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Derivatives - Schedule of Estimated Fair Values of Derivatives Designated as Hedging Instruments (Details) - Designated as Hedging Instrument - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Derivative [Line Items]    
Total $ (16,038) $ (12,985,000)
Prepaid expenses and other current assets | Foreign exchange contracts    
Derivative [Line Items]    
Derivative asset 0 1,953,000
Other accrued liabilities | Interest rate swaps    
Derivative [Line Items]    
Derivative liability (16,038) (7,020,000)
Other noncurrent liabilities | Interest rate swaps    
Derivative [Line Items]    
Derivative liability $ 0 $ (7,918,000)