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Fair value of financial instruments Fixed-Rate Debt (Details) - USD ($)
3 Months Ended
Mar. 31, 2016
Dec. 31, 2015
Fixed-Rate Debt | Unsecured notes issued in a private placement    
Debt Instrument [Line Items]    
Carrying value $ 85,700,000 $ 92,900,000
Fair Value, Inputs, Level 3 | Fixed-Rate Debt | Unsecured notes issued in a private placement    
Debt Instrument [Line Items]    
Fair value 88,500,000 $ 95,700,000
Not Designated as Hedging Instrument | Foreign Exchange Contract    
Debt Instrument [Line Items]    
Notional value $ 54,600,000.0  
Fair Value, Net Asset (Liability) [Abstract]    
Weighted average maturity (in months) 1 month  
Designated as Hedging Instrument | Cross currency swap    
Debt Instrument [Line Items]    
Notional value $ 12,700,000.0  
Fair Value, Net Asset (Liability) [Abstract]    
Weighted average maturity (in months) 1 year  
Designated as Hedging Instrument | Cross currency swap | Fair Value, Inputs, Level 2    
Fair Value, Net Asset (Liability) [Abstract]    
Derivative Asset $ 5,700,000  
Designated as Hedging Instrument | Interest Rate Swap    
Fair Value, Net Asset (Liability) [Abstract]    
Fair value liability interest rate swap 400,000  
Prepaid Expenses and Other Current Assets | Designated as Hedging Instrument | Cross currency swap | Fair Value, Inputs, Level 2    
Fair Value, Net Asset (Liability) [Abstract]    
Derivative Asset 2,600,000  
Other Assets | Designated as Hedging Instrument | Cross currency swap | Fair Value, Inputs, Level 2    
Fair Value, Net Asset (Liability) [Abstract]    
Derivative Asset $ 3,100,000