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Fair Value of Financial Instruments - Gains (Losses) Recognized (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Derivative Instruments, Gain (Loss) [Line Items]        
Other foreign currency transactions gain (loss) $ (906) $ (378) $ (851) $ (927)
Total foreign exchange gain (loss), net (264) (439) (131) (674)
Forward Contracts        
Derivative Instruments, Gain (Loss) [Line Items]        
Net gain (loss) from non-designated forward contracts $ 642 $ (61) $ 720 $ 253