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Shareholders' Equity - Gains and Losses, Net of Tax Reclassified from Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Derivative Instruments, Gain (Loss) [Line Items]    
Location of Gain (Loss) Reclassified from Accumulated OCI into Income $ (3,700) $ 3,000
Foreign exchange contracts, net | Other (income) expense, net    
Derivative Instruments, Gain (Loss) [Line Items]    
Location of Gain (Loss) Reclassified from Accumulated OCI into Income 4,300 3,200
Foreign exchange contracts, net | Cost of sales    
Derivative Instruments, Gain (Loss) [Line Items]    
Location of Gain (Loss) Reclassified from Accumulated OCI into Income (2,400) 900
Interest rate contracts | Interest expense    
Derivative Instruments, Gain (Loss) [Line Items]    
Location of Gain (Loss) Reclassified from Accumulated OCI into Income (6,100) (900)
Retirement plan activity | Operating expenses    
Derivative Instruments, Gain (Loss) [Line Items]    
Location of Gain (Loss) Reclassified from Accumulated OCI into Income $ 500 $ (200)