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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Statement of Comprehensive Income [Abstract]      
Accounting Standards Update [Extensible List]     us-gaap:AccountingStandardsUpdate201601Member
Adoption of Accounting Standards Update 2016-01, income tax (benefit)     $ 2,141
Amounts reclassified from accumulated other comprehensive loss to interest expense, income tax expense $ 156 $ 471 876
Unrealized gains on interest rate swaps, income tax expense (benefit)     254
Unrealized holding gains (losses) on available for sale debt securities, income tax expense (benefit) 382 559 (349)
Pension liability adjustments, income tax expense (benefit) 1,663 194 269
Legal entity restructuring, income tax expense (benefit)   17,694  
Other, income tax expense (benefit) $ 3,068 $ (3,795) $ (3,550)