Derivative Instruments and Hedging Activities - Effect of Hedge Instruments in Unaudited Condensed Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	$ (2,708)	$ 2,293	$ (1,100)	$ 2,246
Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	(2,708)	2,293	(1,100)	2,246
Foreign exchange forward | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	(2,711)	2,440	1,119	4,634
Interest rate swap | Cash flow hedge | Derivative designated as hedging
Derivative Instruments, Gain (Loss) [Line Items]
Unrealized holding gains (losses) arising during period	$ 3	$ (147)	$ (2,219)	$ (2,388)