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Shareholders' Equity - Components of Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Beginning balance     $ 996,830  
Current-period comprehensive income (loss) before reclassifications     (6,781) $ (4,232)
Amounts reclassified from other comprehensive income into earnings       3,851
Total other comprehensive income (loss), net of tax $ 2,485 $ (7,288) (6,781) (381)
Ending balance 933,283   933,283  
Foreign currency translation adjustments, net of tax        
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Beginning balance     (12,314) (14,573)
Current-period comprehensive income (loss) before reclassifications     (2,802) (2,787)
Total other comprehensive income (loss), net of tax       (2,787)
Ending balance (15,116) (17,360) (15,116) (17,360)
Change in fair value of derivatives, net of tax        
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Beginning balance     (1,476) (5,746)
Current-period comprehensive income (loss) before reclassifications     (4,299) (882)
Amounts reclassified from other comprehensive income into earnings       3,851
Total other comprehensive income (loss), net of tax       2,969
Ending balance (5,775) (2,777) (5,775) (2,777)
Pension adjustments, net of tax        
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Beginning balance     (6,545) (3,299)
Current-period comprehensive income (loss) before reclassifications     320 (563)
Total other comprehensive income (loss), net of tax       (563)
Ending balance (6,225) (3,862) (6,225) (3,862)
Total        
Components of Accumulated Other Comprehensive Income (Loss) [Roll Forward]        
Beginning balance     (20,335) (23,618)
Total other comprehensive income (loss), net of tax 2,481 (7,273) (6,738)  
Ending balance $ (27,116) $ (23,999) $ (27,116) $ (23,999)