Retirement Plans - Schedule of Changes in Benefit Obligations and Assets (Details) - United Kingdom Subsidiary - UK Plan - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Benefit obligation at beginning of year	$ 281,776	$ 332,618
Interest cost	7,961	8,085	$ 8,622
Actuarial loss (gain)	32,866	(27,755)
Benefits paid	(12,059)	(14,318)
Foreign currency exchange rate changes	12,222	(16,854)
Benefit obligation at end of year	322,766	281,776	332,618
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]
Fair value of plan assets at beginning of year	264,194	295,968
Actual return on plan assets	38,808	(6,489)
Employer contributions	4,428	4,742
Benefits paid	(12,059)	(14,318)
Foreign currency exchange rate changes	11,630	(15,709)
Fair value of plan assets at end of year	307,001	264,194	$ 295,968
Funded status at end of year	$ (15,765)	$ (17,582)

Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses.

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Amount of gain (loss) from change in actuarial assumptions which (increases) decreases benefit obligation of defined benefit plan. Assumptions include, but are not limited to, interest, mortality, employee turnover, salary, and temporary deviation from substantive plan.

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Amount of actuarial present value of benefits attributed to service rendered by employee for defined benefit plan.

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Amount of payment to participant of defined benefit plan which decreases benefit obligation. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Amount of contribution received by defined benefit plan from employer which increases plan assets.

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Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee.

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Amount of foreign currency translation gain (loss) which (increases) decreases benefit obligation of defined benefit plan.

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Amount of funded (unfunded) status of defined benefit plan, measured as difference between fair value of plan assets and benefit obligation. Includes, but is not limited to, overfunded (underfunded) status.

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Amount of cost recognized for passage of time related to defined benefit plan.

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Amount of payment to participant under defined benefit plan which decreases plan assets. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services.

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Amount of foreign currency translation gain (loss) which increases (decreases) plan assets of defined benefit plan.

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