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Derivatives and Hedging - Interest Rate Hedge Contract and Cross-Currency Debt Swap (Details) - USD ($) | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Derivative [Line Items] |  |  |  |  |
Change in derivative instruments | $ (15,000) |  | $ 4,278,000 |  |
Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings | (555,000) | $ (577,000) | (2,980,000) | $ 17,359,000 |
Change in derivative instruments | (15,000) | (1,170,000) | 4,278,000 | 2,724,000 |
Currency Swap | Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings | 0 | 0 | 0 | 18,510,000 |
Change in derivative instruments | 0 | 0 | 0 | 15,081,000 |
Currency Swap | Other (expense) income, net |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings |  | 0 |  | 11,046,000 |
Other comprehensive income (loss), foreign currency transaction and translation gain (loss) arising during period, net of tax |  | 0 |  | 5,735,000 |
Currency Swap | Interest Income |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings | 0 | 0 | 0 | 1,730,000 |
Currency and Interest Rate Swap Agreements | Designated as Hedging Instrument |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Derivative instrument, notional amount | 194,847,000 |  | 194,847,000 |  | $ 196,350,000
Interest rate hedge contracts | Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings | (1,217,000) | (1,198,000) | (3,608,000) | (2,644,000) |
Change in derivative instruments | (146,000) | $ (100,000) | 2,082,000 | $ (13,261,000) |
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months, net | $ 4,752,000 |  | $ 4,752,000 |  |

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