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Fair Value of Financial Instruments - unrealized realized gain and loss recognized in Accumulated Comprehensive Income (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Unrealized Gain (Loss) Recognized in Accumulated Other Comprehensive Income (Loss) on Derivative	$ (773,000)	$ 791,000
Amount of Realized Gain (Loss) Reclassified from Accumulated Other Comprehensive Income (Loss)	1,026,000	230,000
Cost of goods sold
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Realized Gain (Loss) Reclassified from Accumulated Other Comprehensive Income (Loss)	526,000	272,000	$ 68,000
Selling, General and Administrative Expenses
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Realized Gain (Loss) Reclassified from Accumulated Other Comprehensive Income (Loss)	68,000	25,000	0
Foreign exchange contracts
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Unrealized Gain (Loss) Recognized in Accumulated Other Comprehensive Income (Loss) on Derivative	142,000	1,499,000	(385,000)
Interest Rate Swaps
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Unrealized Gain (Loss) Recognized in Accumulated Other Comprehensive Income (Loss) on Derivative	(915,000)	(708,000)	(223,000)
Interest Rate Swaps \| Interest Expense
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amount of Realized Gain (Loss) Reclassified from Accumulated Other Comprehensive Income (Loss)	$ (1,620,000)	$ (67,000)	$ (159,000)