Derivatives and Hedging - Cross-Currency Debt Swap and Interest Rate Hedge Contract (Details) - USD ($)	3 Months Ended			6 Months Ended
	Jun. 30, 2021	Sep. 30, 2020	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings	$ (991,000)		$ 11,084,000	$ (2,424,000)	$ 17,935,000
Currency Swap
Derivative [Line Items]
Other comprehensive income (loss), foreign currency transaction and translation gain (loss) arising during period, net of tax			11,463,000		18,510,000
Currency Swap | Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings	0		11,463,000	0	18,510,000
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification, tax				0	15,081,000
Currency Swap | Other (expense) income, net
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings		$ 11,046,000
Other comprehensive income (loss), foreign currency transaction and translation gain (loss) arising during period, net of tax				0	5,735,000
Currency Swap | Interest Expense
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings			(1,017,000)		(1,451,000)
Currency Swap | Interest Income
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings	0		417,000	0	1,730,000
Currency and Interest Rate Swap Agreements | Designated as Hedging Instrument
Derivative [Line Items]
Derivative instrument, notional amount	195,348,000			195,348,000		$ 196,350,000
Interest rate hedge contracts | Designated as Hedging Instrument | Cash Flow Hedging
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings	(1,206,000)		$ (1,017,000)	(2,391,000)	$ (1,447,000)
Other comprehensive income (loss), cash flow hedge, gain (loss), before reclassification, tax	462,000			2,228,000
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months, net	(4,757,000)			(4,757,000)
Interest rate hedge contracts | Interest Expense
Derivative [Line Items]
Gains (losses) reclassified from AOCI into earnings	$ (1,206,000)			$ (2,391,000)