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Derivative instruments and hedging activities - Narrative (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
country
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Derivative [Line Items]      
Number of countries for which entity has operations | country 45    
Percentage of sales outside of the Americas during the period 60.00% 60.00% 61.00%
Period of protection against the reduction in value caused by a fluctuation, minimum 1 year    
Period of protection against the reduction in value caused by a fluctuation, maximum 3 years    
Gains and losses recognized due to hedge ineffectiveness $ 0 $ 0 $ 0
Foreign currency forward contracts notional amount 383,288 276,756  
Other Derivatives      
Derivative [Line Items]      
Foreign currency forward contracts notional amount $ 41,000 $ 71,000  
Maximum      
Derivative [Line Items]      
Duration of derivative contracts entered into by the entity to hedge risk of loss 36 months 24 months  
Maximum | Forward Contracts      
Derivative [Line Items]      
Percentage of derivative risk hedged 100.00%    
Duration of derivative contracts entered into by the entity to hedge risk of loss 40 months    
Maximum | Other Derivatives      
Derivative [Line Items]      
Percentage of derivative risk hedged 90.00%    
Duration of derivative contracts entered into by the entity to hedge risk of loss 90 days    
Net sales | Forward Contracts      
Derivative [Line Items]      
Estimated amount of reclassification of losses on derivative instruments from AOCI to net sales $ (6,400)    
Cost of sales      
Derivative [Line Items]      
Estimated amount of reclassification of losses on derivative instruments from AOCI to net sales (600)    
Operating expense | Forward Contracts      
Derivative [Line Items]      
Estimated amount of reclassification of losses on derivative instruments from AOCI to net sales $ (800)