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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