Financial Instruments - Fair Value of Outstanding Derivative Contracts Recorded as Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	$ 2,985	$ 5,018
Liability derivatives (Level 2)	10,252	4,783
Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,985	3,559
Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,873	2,934
Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		1,331
Interest rate swaps | Other assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		128
Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	2,098
Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	4,281	1,849
Fair Value of Derivatives Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,039	4,429
Liability derivatives (Level 2)	6,519	1,873
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	2,039	2,970
Fair Value of Derivatives Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	140	24
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		1,331
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		128
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	2,098
Fair Value of Derivatives Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	4,281	1,849
Fair Value of Derivatives Not Designated as Hedging Instruments
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	946	589
Liability derivatives (Level 2)	3,733	2,910
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):	946	589
Fair Value of Derivatives Not Designated as Hedging Instruments | Foreign currency exchange forward contracts | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	3,733	2,910
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other assets
Derivatives, Fair Value [Line Items]
Asset derivatives (Level 2):		0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other current liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	0
Fair Value of Derivatives Not Designated as Hedging Instruments | Interest rate swaps | Other liabilities
Derivatives, Fair Value [Line Items]
Liability derivatives (Level 2)	$ 0	$ 0