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Derivatives Gain (Loss) in Statement of Finacial Position (Details) - USD ($)
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Derivative Instruments, Gain (Loss) [Line Items]          
Current period gain on cash flow hedges $ 1,030,000 $ 1,685,000 $ 888,000 $ 1,176,000  
Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss) (591,000) (380,000) (441,000) (620,000)  
Foreign currency forward contracts | Cash Flow Hedging [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Current period gain on cash flow hedges 1,422,000 1,881,000 1,161,000 1,622,000  
Amount of Gain (Loss) Reclassified from Accumulated OCI into Income (Effective Portion) 506,000 356,000 387,000 585,000  
Amount of Gain (Loss) Recognized in Income on Derivatives (Ineffective Portion and Amount Excluded from Effectiveness Testing) $ (120,000) 44,000 (56,000) 52,000  
Not Designated as Hedging Instrument [Member]          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)     $ 243,000   $ (78,000)
Not Designated as Hedging Instrument [Member] | Foreign currency forward contracts          
Derivative Instruments, Gain (Loss) [Line Items]          
Gain (Loss)   $ (202,000)   $ (214,000)