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Defined Benefit Plans - Narrative (Details)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
USD ($)
plan
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes $ 300    
Number of plans | plan 3    
Benefit obligation $ 9,200 $ 8,500  
Fair value of plan assets $ 5,700 $ 4,900  
Annual rate of return on plan assets 7.00% 7.00%  
Estimated future benefit payments $ 600    
Net periodic pension cost (income) $ 300 $ 300 $ 300
Minimum | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Discount rate 3.00% 4.00%  
Maximum | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Discount rate 4.00% 4.25%  
United Kingdom Subsidiary | UK Plan      
Defined Benefit Plan Disclosure [Line Items]      
Underfunded status of UK Plan $ 15,765 $ 17,582  
Annual rate of inflation 2.00% 2.10%  
Average life expectancy 25 years    
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes $ 2,000    
Future estimated employer contributions to be paid next year 4,800    
Benefit obligation 322,766 $ 281,776 332,618
Fair value of plan assets $ 307,001 $ 264,194 $ 295,968
Discount rate 2.10% 2.90%  
Annual rate of return on plan assets 4.90% 5.00% 5.30%
Net periodic pension cost (income) $ (1,862) $ (3,082) $ (1,944)
Selling, General and Administrative Expenses | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Reclassification adjustment from AOCI, net of income taxes 200 200 200
Selling, General and Administrative Expenses | United Kingdom Subsidiary | UK Plan      
Defined Benefit Plan Disclosure [Line Items]      
Reclassification adjustment from AOCI, net of income taxes 1,900 2,100 $ 2,300
Other Noncurrent Liabilities | United Kingdom Subsidiary | UK Plan      
Defined Benefit Plan Disclosure [Line Items]      
Underfunded status of UK Plan $ 15,800 $ 17,600