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Derivative instruments and hedging activities - Narrative (Details)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
USD ($)
country
Sep. 30, 2019
Sep. 30, 2020
USD ($)
country
Sep. 30, 2019
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 59.00% 58.00% 59.00% 60.00%  
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)     36 months   36 months
Foreign currency forward contracts notional amount $ 532,643,000   $ 532,643,000   $ 383,288,000
Cost of Sales          
Derivative [Line Items]          
Gains (losses) expected to be reclassified from AOCI to earnings     (1,000,000.0)    
Forward Contracts | Net Sales          
Derivative [Line Items]          
Gains (losses) expected to be reclassified from AOCI to earnings     (600,000)    
Forward Contracts | Operating Expenses          
Derivative [Line Items]          
Gains (losses) expected to be reclassified from AOCI to earnings     (1,400,000)    
Other Derivatives          
Derivative [Line Items]          
Foreign currency forward contracts notional amount $ 87,000,000   $ 87,000,000   $ 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