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Derivative Financial Instruments - Fair Value of Hedge Instruments in Unaudited Condensed Consolidated Balance Sheets (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2020
USD ($)
derivative
Dec. 31, 2019
USD ($)
derivative
Foreign exchange forward | Derivative designated as hedging    
Derivatives, Fair Value [Line Items]    
Notional amount $ 276,400 $ 287,900
Foreign exchange forward | Derivative designated as hedging | Prepaid and other assets    
Derivatives, Fair Value [Line Items]    
Asset derivatives 11,772 4,549
Asset hedges deemed ineffective 700  
Foreign exchange forward | Derivative designated as hedging | Other assets    
Derivatives, Fair Value [Line Items]    
Asset derivatives 3,443 1,109
Foreign exchange forward | Derivative designated as hedging | Accrued expenses and other liabilities    
Derivatives, Fair Value [Line Items]    
Liability derivatives 2,670 2,561
Liability hedges deemed ineffective 100  
Foreign exchange forward | Derivative designated as hedging | Other noncurrent liabilities    
Derivatives, Fair Value [Line Items]    
Liability derivatives 406 $ 115
Foreign exchange forward | Not designated as hedging instrument    
Derivatives, Fair Value [Line Items]    
Notional amount of hedges deemed ineffective $ 17,200  
Number of outstanding contracts | derivative 0 0
Foreign exchange forward | Maximum    
Derivatives, Fair Value [Line Items]    
Term of derivative contract 24 months  
Interest rate swap | Derivative designated as hedging    
Derivatives, Fair Value [Line Items]    
Notional amount $ 160,000 $ 160,000
Interest rate swap | Derivative designated as hedging | Accrued expenses and other liabilities    
Derivatives, Fair Value [Line Items]    
Liability derivatives 3,630 1,862
Interest rate swap | Derivative designated as hedging | Other noncurrent liabilities    
Derivatives, Fair Value [Line Items]    
Liability derivatives $ 611 $ 789