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Derivative Financial Instruments - Schedule of Effect of Derivative Instruments on Consolidated Statements of Earnings (Details) - USD ($)
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Derivative Instruments, Gain (Loss) [Line Items]    
Gain (loss) recognized in other expense for hedge ineffectiveness $ 0  
Derivative, Gain on Derivative, Net 45,000 $ 281,000
Foreign Currency Derivatives | Designated As Hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
Total gain reclassified from AOCI to earnings 221,000 243,000
Derivative, Gain on Derivative, Net 221,000 243,000
Foreign Currency Derivatives | Cost of Goods Sold | Designated As Hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
Total gain reclassified from AOCI to earnings 221,000 248,000
Foreign Currency Derivatives | Selling, General and Administrative Expenses | Designated As Hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
Total gain reclassified from AOCI to earnings 0 (5,000)
Foreign Currency Derivatives | Other Nonoperating Income (Expense) | Designated As Hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
Gain (loss) recognized in other expense for hedge ineffectiveness 0 0
Interest Rate Swap | Interest Expense | Designated As Hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
Derivative, Gain on Derivative, Net $ (176,000) $ 38,000