Derivative Financial Instruments - Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Designated as Hedging Instrument | Prepaid Expenses and Other Current Assets | Interest Rate Swap
Derivative [Line Items]
Derivative assets	$ 519	$ 404
Designated as Hedging Instrument | Other Current Liabilities | Interest Rate Swap
Derivative [Line Items]
Derivative liabilities	982	453
Designated as Hedging Instrument | Other Current Liabilities | Currency Forward Contracts
Derivative [Line Items]
Derivative liabilities	13,295	454
Designated as Hedging Instrument | Other Noncurrent Liabilities | Interest Rate Swap
Derivative [Line Items]
Derivative liabilities	1,628	1,012
Designated as Hedging Instrument | Other Noncurrent Liabilities | Currency Forward Contracts
Derivative [Line Items]
Derivative liabilities	12,211	1,189
Not Designated as Hedging Instrument | Prepaid Expenses and Other Current Assets | Currency Forward Contracts
Derivative [Line Items]
Derivative assets	5,704	3,010
Not Designated as Hedging Instrument | Other Current Liabilities | Currency Forward Contracts
Derivative [Line Items]
Derivative liabilities	$ 506	$ 391