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Consolidated Statement of Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Statement of Stockholders' Equity [Abstract]        
Preferred stock, par value (in usd per share) $ 0.01 $ 0.01 $ 0.01 $ 0.01
Common stock, par value (in usd per share) $ 0.01 $ 0.01 $ 0.01 $ 0.01
Accounting standards update       us-gaap:AccountingStandardsUpdate201613Member
Tax related to investment hedge instruments gain (loss) $ 1,459 $ 2,339 $ (4,479) $ (6,778)
Tax related to amortization of net actuarial loss (gain) $ (527) $ (531) $ (1,054) $ (1,062)