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Derivatives Narrative (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2017
Mar. 31, 2016
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Sep. 30, 2017
Derivative [Line Items]                
Convertible Debt 2022 Conversion Feature, Initial Fair Value $ 28,859,000       $ 28,859,000      
Proceeds from Issuance of Warrants       $ 12,376,000        
Foreign currency forward contracts                
Derivative [Line Items]                
Notional amount of derivatives, matured during period         97,763,000 $ 71,239,000    
Selling, General and Administrative Expenses | Foreign currency forward contracts                
Derivative [Line Items]                
Loss on derivative (967,000) $ (213,000)     $ (243,000) (201,000)    
Minimum                
Derivative [Line Items]                
Derivative, percentage of forcasted transactions with currency rate exposure         50.00%      
Maximum                
Derivative [Line Items]                
Derivative, percentage of forcasted transactions with currency rate exposure         90.00%      
Cash Flow Hedging [Member]                
Derivative [Line Items]                
Gain (Loss) 591,000 380,000     $ 441,000 620,000    
Cash Flow Hedging [Member] | Sales [Member]                
Derivative [Line Items]                
Gain recognized in income   164,000       8,000    
Loss on derivative (326,000)       (211,000)      
Cash Flow Hedging [Member] | Cost of Sales [Member]                
Derivative [Line Items]                
Gain recognized in income   $ 544,000       $ 628,000    
Loss on derivative (265,000)       (230,000)      
Convertible Subordinated Debt | Convertible Senior Notes at 5.00% February 2021 [Member]                
Derivative [Line Items]                
Convertible due 2021 - Bond Hedge, Initial Fair Value 27,975,000       27,975,000      
Convertible Debt Conversion Feature, Initial Fair Value (34,480,000)       (34,480,000)      
Debt Instrument, Face Amount $ 25,716,000     $ 150,000,000 $ 25,716,000   $ 61,091,000  
Interest rate (as a percent) 5.00%       5.00%      
Convertible Subordinated Debt | Convertible Senior Notes at 4.50% February 2022 [Domain]                
Derivative [Line Items]                
Proceeds from Issuance of Warrants     $ 14,100,000          
Convertible due 2022 - Bond Hedge, Fair Value at Issuance $ 24,780,000   $ 24,780,000   $ 24,780,000      
Debt Instrument, Face Amount $ 81,500,000       $ 81,500,000   $ 120,000,000 $ 120,000,000
Interest rate (as a percent) 4.50%       4.50%