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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