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Consolidated Statements of Shareholders' Equity - USD ($) shares in Thousands, $ in Thousands | Total | Cumulative effect of change in accounting principle(b) | [1] | Common Stock [Member] | Paid-in Capital [Member] | Retained Earnings [Member] | Retained Earnings [Member] Cumulative effect of change in accounting principle(b) | [1] | Accumulated Other Comprehensive Loss [Member] | Accumulated Other Comprehensive Loss [Member] Cumulative effect of change in accounting principle(b) | Treasury Stock [Member]
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
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 | 2,694 |  |  | (2,094) |  |  |  |  | 4,788
Stock-based compensation | 10,037 |  |  | 10,037 |  |  |  |  |
Dividends on common stock ($.80 per share) | (22,477) |  |  |  | (22,477) |  |  |  |
Comprehensive income (loss): |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments |  |  |  |  |  |  | (8,369) |  |
Pension liability (net of income tax expense/benefit) |  |  |  |  |  |  | (672) |  |
Cash flow hedging gain (loss) (net of income tax expense/benefit) |  |  |  |  |  |  | 8,331 |  |
Net income | 40,854 |  |  |  | 40,854 |  |  |  |
Comprehensive income | 40,144 |  |  |  |  |  |  |  |
Balance at period end (shares) at Dec. 31, 2018 |  |  | 31,299 |  |  |  |  |  |
Balance at period end at Dec. 31, 2018 | 662,270 |  | $ 313 | 341,738 | 464,851 |  | (55,737) |  | (88,895)
Balance at period end (Accounting Standards Update 2014-09 and 2018-02 [Member]) at Dec. 31, 2018 |  | $ 440 |  |  |  | $ 6,389 |  | $ (5,949) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Common stock issued under employee plans | 4,315 |  |  | (3,843) |  |  |  |  | 8,158
Stock-based compensation | 11,779 |  |  | 11,779 |  |  |  |  |
Dividends on common stock ($.80 per share) | (22,627) |  |  |  | (22,627) |  |  |  |
Convertible notes discount, net | 39,145 |  |  | 39,145 |  |  |  |  |
Convertible notes debt issuance costs | (1,233) |  |  | (1,233) |  |  |  |  |
Convertible notes hedge, net | (38,829) |  |  | (38,829) |  |  |  |  |
Issuance of warrants | 30,567 |  |  | 30,567 |  |  |  |  |
Comprehensive income (loss): |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments |  |  |  |  |  |  | 25 |  |
Pension liability (net of income tax expense/benefit) |  |  |  |  |  |  | 27 |  |
Cash flow hedging gain (loss) (net of income tax expense/benefit) |  |  |  |  |  |  | (3,592) |  |
Net income | 28,620 |  |  |  | 28,620 |  |  |  |
Comprehensive income | 25,080 |  |  |  |  |  |  |  |
Balance at period end (shares) at Dec. 31, 2019 |  |  | 31,299 |  |  |  |  |  |
Balance at period end at Dec. 31, 2019 | 710,467 |  | $ 313 | 379,324 | 470,844 |  | (59,277) |  | (80,737)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Common stock issued under employee plans | 3,291 |  |  | (9,807) |  |  |  |  | 13,098
Stock-based compensation | 13,111 |  |  | 13,111 |  |  |  |  |
Dividends on common stock ($.80 per share) | (22,944) |  |  |  | (22,944) |  |  |  |
Comprehensive income (loss): |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments |  |  |  |  |  |  | 6,963 |  |
Pension liability (net of income tax expense/benefit) |  |  |  |  |  |  | (4,929) |  |
Cash flow hedging gain (loss) (net of income tax expense/benefit) |  |  |  |  |  |  | (6,438) |  |
Net income | 9,517 |  |  |  | 9,517 |  |  |  |
Comprehensive income | 5,113 |  |  |  |  |  |  |  |
Balance at period end (shares) at Dec. 31, 2020 |  |  | 31,299 |  |  |  |  |  |
Balance at period end at Dec. 31, 2020 | $ 709,038 |  | $ 313 | $ 382,628 | $ 457,417 |  | $ (63,681) |  | $ (67,639)
[1] | We recorded the cumulative impact of adopting ASU 2014-09, Revenue from Contracts with Customers, (and its amendments) and ASU 2018-02, Income Statement - Reporting Comprehensive Income (Topic 220) in 2018.

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