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Rule 10b5-1 Arrangement Terminated [Flag] Aggregate Erroneous Compensation Amount Aggregate Erroneous Compensation Amount Cash paid for interest Interest Paid, Excluding Capitalized Interest, Operating Activity Statement of Cash Flows [Abstract] Statement of Cash Flows [Abstract] Hedging Designation [Axis] Hedging Designation [Axis] Credit Facility [Axis] Credit Facility [Axis] Restructuring Restructuring and Related Activities Disclosure [Text Block] Aggregate Available Trading Arrangement, Securities Aggregate Available Amount Long-term debt and finance lease obligations, less current portion and debt discount Long-term debt and finance lease obligations, less current portion, discount, and issuance costs Long-Term Debt and Lease Obligation Name Measure Name Estimated fair value of impaired assets Impaired Long-Lived Assets Held And Used, Estimated Fair Value of Asset The estimated fair value of impaired asset held and used. Accounts payable Accounts Payable, Current Pay vs Performance Disclosure [Line Items] Fair Value Hierarchy and NAV [Domain] Fair Value Hierarchy and NAV [Domain] Other Other Noncash Income (Expense) Debt Instrument [Line Items] Debt Instrument [Line Items] Schedule of Position Related to Derivative Contracts Schedule of Derivatives Instruments Statements of Financial Performance and Financial Position, Location [Table Text Block] Pay vs Performance Disclosure Pay vs Performance Disclosure [Table] Unrealized gain on hedge instruments Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification, before Tax Additional Paid-In Capital Additional Paid-in Capital [Member] Entity Filer Category Entity Filer Category Supplemental cash flow disclosure information: Supplemental Cash Flow Elements [Abstract] Depreciation and amortization Depreciation, Depletion and Amortization, Nonproduction, Including Discontinued Operations Depreciation, Depletion and Amortization, Nonproduction, Including Discontinued Operations Name Trading Arrangement, Individual Name Cash and cash equivalents Cash and cash equivalents Cash and Cash Equivalent Schedule of annual maturities of debt: Long-Term Debt, Fiscal Year Maturity [Abstract] Company Selected Measure Amount Company Selected Measure Amount Entity Address, Address Line Two Entity Address, Address Line Two Current assets: Assets, Current [Abstract] Derivative liabilities Derivative Liability Government Assistance, Type [Domain] Government Assistance, Type [Domain] Non-PEO NEO Non-PEO NEO [Member] Entity Address, Address Line One Entity Address, Address Line One Right of use assets acquired under operating leases Right-of-Use Asset Obtained in Exchange for Operating Lease Liability Income tax provision Income Tax Expense (Benefit) Adjustments to reconcile net income to net cash provided by operating activities: Adjustment to Reconcile Net Income to Cash Provided by (Used in) Operating Activity, Noncash Item [Abstract] Award Timing Method Award Timing Method [Text Block] Net change in cash, cash equivalents and restricted cash Cash, Cash Equivalent, Restricted Cash, and Restricted Cash Equivalent, Period Increase (Decrease), Including Exchange Rate Effect and Discontinued Operation Forgone Recovery, Explanation of Impracticability Forgone Recovery, Explanation of Impracticability [Text Block] Variable Interest Entity, Primary Beneficiary Variable Interest Entity, Primary Beneficiary [Member] Cash flow hedging activity: AOCI Attributable to Parent, Net of Tax [Roll Forward] Net income Net income Net income Net Income (Loss) Attributable to Parent Long-term Debt, Type [Axis] Long-Term Debt, Type [Axis] Erroneous Compensation Analysis Erroneous Compensation Analysis [Text Block] Balance Sheet Location [Axis] Location, Statement of Financial Position, Balance [Axis] Discounted Cash Flow Valuation Technique, Discounted Cash Flow [Member] Statement [Table] Statement [Table] Reconciling Items Segment Reporting, Reconciling Item, Excluding Corporate Nonsegment [Member] Restatement Determination Date: Restatement Determination Date [Axis] Proceeds from issuance of common stock Proceeds from Stock Options Exercised Schedule of Accumulated Other Comprehensive Income (Loss) Schedule of Accumulated Other Comprehensive Income (Loss) [Table Text Block] Schedule of Expected Deferred Revenue to be Reflected in Future Operating Results Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Table Text Block] Unusual or Infrequent Item, or Both [Line Items] Unusual or Infrequent Item, or Both [Line Items] Pension Benefits Adjustments, Footnote Pension Benefits Adjustments, Footnote [Text Block] Derivative Instruments and Hedging Activities Disclosure [Abstract]