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Derivative instruments and hedging activities - Narrative (Details)
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2020
USD ($)
country
Jun. 30, 2019
Jun. 30, 2020
USD ($)
country
Dec. 31, 2019
USD ($)
Derivative [Line Items]        
Number of countries for which entity has operations | country 45   45  
Percentage of sales outside of the Americas during the period 60.00% 61.00%    
Period of protection against the reduction in value caused by a fluctuation, minimum (in number of years)     1 year  
Period of protection against the reduction in value caused by a fluctuation, maximum (in number of years)     3 years  
Derivatives, contractual maturities (in months)     39 months 36 months
Foreign currency forward contracts notional amount $ 513,332,000   $ 513,332,000 $ 383,288,000
Cost of Sales        
Derivative [Line Items]        
Gains (losses) expected to be reclassified from AOCI to earnings     (1,600,000)  
Forward Contracts | Net Sales        
Derivative [Line Items]        
Gains (losses) expected to be reclassified from AOCI to earnings     6,800,000  
Forward Contracts | Operating Expenses        
Derivative [Line Items]        
Gains (losses) expected to be reclassified from AOCI to earnings     (2,300,000)  
Other Derivatives        
Derivative [Line Items]        
Foreign currency forward contracts notional amount $ 83,000,000   $ 83,000,000 $ 41,000,000
Maximum | Forward Contracts        
Derivative [Line Items]        
Percentage of derivative risk hedged 100.00%   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%   90.00%  
Duration of derivative contracts entered into by the entity to hedge risk of loss     90 days