Fair Value Measurements (Details) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Level 1
Assets
Total assets	$ 7,182	$ 6,940
Liabilities
Total liabilities	876	870
Level 2
Assets
Total assets	2,401	5,658
Liabilities
Total liabilities	5,243	5,327
Level 3
Assets
Total assets	0	0
Liabilities
Total liabilities	0	0
Prepaid and other assets | Level 1
Assets
Rabbi trust	6,306	6,070
Prepaid and other assets | Level 2
Assets
Rabbi trust	0	0
Prepaid and other assets | Level 3
Assets
Rabbi trust	0	0
Prepaid and other assets | Foreign exchange derivative instruments | Level 1
Assets
Derivative instruments	0	0
Prepaid and other assets | Foreign exchange derivative instruments | Level 2
Assets
Derivative instruments	2,217	4,549
Prepaid and other assets | Foreign exchange derivative instruments | Level 3
Assets
Derivative instruments	0	0
Other assets | Level 1
Assets
Deferred compensation program assets	876	870
Other assets | Level 2
Assets
Deferred compensation program assets	0	0
Other assets | Level 3
Assets
Deferred compensation program assets	0	0
Other assets | Foreign exchange derivative instruments | Level 1
Assets
Derivative instruments	0	0
Other assets | Foreign exchange derivative instruments | Level 2
Assets
Derivative instruments	184	1,109
Other assets | Foreign exchange derivative instruments | Level 3
Assets
Derivative instruments	0	0
Accrued expenses and other liabilities | Foreign exchange derivative instruments | Level 1
Liabilities
Derivative instruments	0	0
Accrued expenses and other liabilities | Foreign exchange derivative instruments | Level 2
Liabilities
Derivative instruments	2,107	2,561
Accrued expenses and other liabilities | Foreign exchange derivative instruments | Level 3
Liabilities
Derivative instruments	0	0
Accrued expenses and other liabilities | Interest rate derivative instruments | Level 1
Liabilities
Derivative instruments	0	0
Accrued expenses and other liabilities | Interest rate derivative instruments | Level 2
Liabilities
Derivative instruments	2,530	1,862
Accrued expenses and other liabilities | Interest rate derivative instruments | Level 3
Liabilities
Derivative instruments	0	0
Other noncurrent liabilities | Level 1
Liabilities
Deferred compensation program liabilities	876	870
Other noncurrent liabilities | Level 2
Liabilities
Deferred compensation program liabilities	0	0
Other noncurrent liabilities | Level 3
Liabilities
Deferred compensation program liabilities	0	0
Other noncurrent liabilities | Foreign exchange derivative instruments | Level 1
Liabilities
Derivative instruments	0	0
Other noncurrent liabilities | Foreign exchange derivative instruments | Level 2
Liabilities
Derivative instruments	606	115
Other noncurrent liabilities | Foreign exchange derivative instruments | Level 3
Liabilities
Derivative instruments	$ 0	0
Other noncurrent liabilities | Interest rate derivative instruments | Level 1
Liabilities
Derivative instruments		0
Other noncurrent liabilities | Interest rate derivative instruments | Level 2
Liabilities
Derivative instruments		789
Other noncurrent liabilities | Interest rate derivative instruments | Level 3
Liabilities
Derivative instruments		$ 0