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Derivatives and Hedging - Forward Currency Forward Contracts (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] |  |  |  |  |
Minimum length of time, foreign currency cash flow hedge |  |  | 12 months |  |
Maximum maturity for foreign currency cash flow hedge |  |  | 15 months |  |
Net gain in accumulated other comprehensive loss related to foreign currency forward contracts | $ (15,000) |  | $ 4,278,000 |  |
Forward points amortized on derivatives | 17,000 |  | 61,000 |  |
Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Net gain in accumulated other comprehensive loss related to foreign currency forward contracts | (15,000) | $ (1,170,000) | 4,278,000 | $ 2,724,000 |
Gains (losses) reclassified from AOCI into earnings | (555,000) | (577,000) | (2,980,000) | 17,359,000 |
Foreign Exchange Contract | Designated as Hedging Instrument |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Derivative instrument, notional amount | 14,632,000 |  | 14,632,000 |  | $ 756,000
Foreign currency forward contracts |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Forward points amortized on derivatives | 0 |  | 0 |  |
Foreign currency forward contracts | Cost of Goods Sold |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Gains (losses) reclassified from AOCI into earnings | 645,000 | 486,000 | 567,000 | 894,000 |
Foreign currency forward contracts | Designated as Hedging Instrument |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months, net |  |  | 1,299,000 |  |
Foreign currency forward contracts | Designated as Hedging Instrument | Cash Flow Hedging |  |  |  |  |
Derivative [Line Items] |  |  |  |  |
Net gain in accumulated other comprehensive loss related to foreign currency forward contracts | 131,000 | (1,070,000) | 2,196,000 | 904,000 |
Gains (losses) reclassified from AOCI into earnings | $ 662,000 | $ 621,000 | $ 628,000 | $ 1,493,000 |

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