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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Amounts reclassified from accumulated other comprehensive loss to interest expense, income tax expense $ 471 $ 876 $ 3,066
Unrealized gains on interest rate swaps, income tax expense (benefit)   254 362
Unrealized holding gains (losses) on available for sale debt securities, income tax expense (benefit) 559 (349) 1,685
Pension liability adjustments, income tax expense (benefit) 194 269 2,601
Legal entity restructuring, income tax expense (benefit) 17,694    
Other, income tax expense (benefit) $ (3,795) (3,550) $ 342
Accounting Standards Update 2016-01 [Member]      
Adoption of Accounting Standards Update 2016-01, income tax benefit   $ (2,141)