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Consolidated Statements of Shareholders' Equity (Unaudited) - USD ($)
shares in Thousands, $ in Thousands
Total
Common Stock
Paid-in Capital
Retained Earnings
Accumulated Other Comprehensive Loss
Treasury Stock
Balance at period start (shares) at Dec. 31, 2017   31,299        
Balance at period start at Dec. 31, 2017 $ 631,432 $ 313 $ 333,795 $ 440,085 $ (49,078) $ (93,683)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 657   (1,344)     2,001
Stock-based compensation 2,303   2,303      
Dividends on common stock ($0.20 per share) (5,606)     (5,606)    
Comprehensive income (loss):            
Foreign currency translation adjustments         649  
Pension liability, net of income tax         510  
Cash flow hedging gain (loss), net of income tax         1,586  
Net income       10,657    
Total comprehensive income 13,402          
Balance at period end (shares) at Mar. 31, 2018   31,299        
Balance at period end at Mar. 31, 2018 642,628 $ 313 334,754 445,576 (46,333) (91,682)
Balance at period start (shares) at Dec. 31, 2017   31,299        
Balance at period start at Dec. 31, 2017 631,432 $ 313 333,795 440,085 (49,078) (93,683)
Comprehensive income (loss):            
Foreign currency translation adjustments (5,483)          
Pension liability, net of income tax 1,529          
Cash flow hedging gain (loss), net of income tax 6,598          
Net income 25,201          
Balance at period end (shares) at Sep. 30, 2018   31,299        
Balance at period end at Sep. 30, 2018 652,656 $ 313 339,033 448,875 (46,434) (89,131)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Cumulative effect of change in accounting principle | Accounting Standards Update 2014-09 [1] 440     440    
Balance at period start (shares) at Mar. 31, 2018   31,299        
Balance at period start at Mar. 31, 2018 642,628 $ 313 334,754 445,576 (46,333) (91,682)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 1,227   (844)     2,071
Stock-based compensation 2,650   2,650      
Dividends on common stock ($0.20 per share) (5,620)     (5,620)    
Comprehensive income (loss):            
Foreign currency translation adjustments         (5,749)  
Pension liability, net of income tax         510  
Cash flow hedging gain (loss), net of income tax         3,827  
Net income       8,719    
Total comprehensive income 7,307          
Balance at period end (shares) at Jun. 30, 2018   31,299        
Balance at period end at Jun. 30, 2018 648,192 $ 313 336,560 448,675 (47,745) (89,611)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 441   (39)     480
Stock-based compensation 2,512   2,512      
Dividends on common stock ($0.20 per share) (5,625)     (5,625)    
Comprehensive income (loss):            
Foreign currency translation adjustments (384)       (384)  
Pension liability, net of income tax 510       510  
Cash flow hedging gain (loss), net of income tax 1,185       1,185  
Net income 5,825     5,825    
Total comprehensive income 7,136          
Balance at period end (shares) at Sep. 30, 2018   31,299        
Balance at period end at Sep. 30, 2018 652,656 $ 313 339,033 448,875 (46,434) (89,131)
Balance at period start (shares) at Dec. 31, 2018   31,299        
Balance at period start at Dec. 31, 2018 662,270 $ 313 341,738 464,851 (55,737) (88,895)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 1,748   (769)     2,517
Stock-based compensation 2,703   2,703      
Dividends on common stock ($0.20 per share) (5,643)     (5,643)    
Convertible note discount (net of income tax expense) 39,145   39,145      
Convertible note hedge, (net of income tax benefit) (38,829)   (38,829)      
Issuance of warrants 30,567   30,567      
Comprehensive income (loss):            
Foreign currency translation adjustments         (578)  
Pension liability, net of income tax         547  
Cash flow hedging gain (loss), net of income tax         106  
Net income       1,021    
Total comprehensive income 1,096          
Balance at period end (shares) at Mar. 31, 2019   31,299        
Balance at period end at Mar. 31, 2019 693,057 $ 313 374,555 460,229 (55,662) (86,378)
Balance at period start (shares) at Dec. 31, 2018   31,299        
Balance at period start at Dec. 31, 2018 662,270 $ 313 341,738 464,851 (55,737) (88,895)
Comprehensive income (loss):            
Foreign currency translation adjustments (4,240)          
Pension liability, net of income tax 1,639          
Cash flow hedging gain (loss), net of income tax 423          
Net income 13,686          
Balance at period end (shares) at Sep. 30, 2019   31,299        
Balance at period end at Sep. 30, 2019 700,922 $ 313 379,137 461,564 (57,915) (82,177)
Balance at period start (shares) at Mar. 31, 2019   31,299        
Balance at period start at Mar. 31, 2019 693,057 $ 313 374,555 460,229 (55,662) (86,378)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 750   (1,144)     1,894
Stock-based compensation 3,108   3,108      
Dividends on common stock ($0.20 per share) (5,657)     (5,657)    
Comprehensive income (loss):            
Foreign currency translation adjustments         1,108  
Pension liability, net of income tax         546  
Cash flow hedging gain (loss), net of income tax         (1,598)  
Net income       5,695    
Total comprehensive income 5,751          
Balance at period end (shares) at Jun. 30, 2019   31,299        
Balance at period end at Jun. 30, 2019 697,009 $ 313 376,519 460,267 (55,606) (84,484)
Increase (Decrease) in Stockholders' Equity [Roll Forward]            
Common stock issued under employee plans 1,917   (390)     2,307
Stock-based compensation 3,008   3,008      
Dividends on common stock ($0.20 per share) (5,673)     (5,673)    
Comprehensive income (loss):            
Foreign currency translation adjustments (4,770)       (4,770)  
Pension liability, net of income tax 546       546  
Cash flow hedging gain (loss), net of income tax 1,915       1,915  
Net income 6,970     6,970    
Total comprehensive income 4,661          
Balance at period end (shares) at Sep. 30, 2019   31,299        
Balance at period end at Sep. 30, 2019 $ 700,922 $ 313 $ 379,137 $ 461,564 $ (57,915) $ (82,177)
[1] We recorded the cumulative impact of adopting ASU 2014-09, Revenue from Contracts with Customers, in 2018. See Note 16 for further discussion regarding the adoption of these accounting standards.