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Derivatives - Foreign Currency Derivative Contracts Outstanding (Details) - Not Designated as Hedging Instrument - Foreign currency contracts
$ in Thousands
Sep. 30, 2019
USD ($)
$ / £
$ / €
$ / kr
$ / $
Dec. 31, 2018
USD ($)
$ / £
$ / €
$ / kr
$ / $
Canadian dollar    
Derivative [Line Items]    
Notional Amount $ 1,362 $ 2,248
Contractual Exchange Rate | $ / $ 1.3220 1.3343
Euro    
Derivative [Line Items]    
Notional Amount $ 7,457 $ 6,967
Contractual Exchange Rate | $ / € 1.1130 1.1421
Norwegian krone    
Derivative [Line Items]    
Notional Amount $ 10,254 $ 7,713
Contractual Exchange Rate | $ / kr 8.9717 8.5566
Pound sterling    
Derivative [Line Items]    
Notional Amount $ 16,089 $ 16,452
Contractual Exchange Rate | $ / £ 1.2377 1.2655