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Derivative Instruments Derivative Instruments (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Derivative Instruments [Abstract]          
Forward contracts $ 140,000   $ 140,000    
Foreign Currency Contracts, Liability, Fair Value Disclosure 325,000   325,000   $ 997,000
Derivative, Notional Amount 26,288   26,288    
Derivative [Line Items]          
Other Comprehensive Income (Loss), Unrealized Gain (Loss) on Derivatives Arising During Period, before Tax (17,000)        
Derivative Instruments, Gain (Loss) Reclassified from Accumulated OCI into Income, Effective Portion, Net (214,000) $ 30,000 (711,000) $ 206,000  
Foreign Currency Contracts, Liability, Fair Value Disclosure $ 325,000   $ 325,000   $ 997,000