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Using the built-in mechanisms, your only option seems to be the following: export the document as PDF, send it to some computer via Mail and print it from there.
Another solution would be some program like Ecamm's Printopia. It allows you to share your printer connected for your mac on the network in a way that you can directly print from iPad. The price is a bit steep, but it would allow you to print directly (without going through a computer) from any app on the device. They also have a nice "Save to Mac" option, which saves that printout as PDF on your Mac.
I hope this helps,