Other Comprehensive Income (Loss) - Related Tax Effects Allocated to Each Component of Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Equity [Abstract]
Cumulative translation adjustment, before tax amount	$ (1,225)	$ 2,628	$ (1,809)	$ (257)
Amortization of actuarial gains (losses), before tax amount	1,308	(1,179)	1,754	(2,284)
Derivative instruments, before tax amount	(717)	1,167	(1,373)	(878)
Total other comprehensive income (loss), before tax amount	(634)	2,616	(1,428)	(3,419)
Cumulative translation adjustment, tax expense	0	0	0	0
Amortization of actuarial gains (losses), tax expense	113	222	340	434
Derivative instrument, tax expense	168	(274)	321	97
Total other comprehensive income (loss), tax expense	281	(52)	661	531
Cumulative translation adjustment, after tax amount	(1,225)	2,628	(1,809)	(257)
Amortization of actuarial gains (losses), after tax amount	1,421	(957)	2,094	(1,850)
Derivative instrument, after tax amount	(549)	893	(1,052)	(781)
Other comprehensive income (loss)	$ (353)	$ 2,564	$ (767)	$ (2,888)