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Defined Benefit Plans - Narrative (Details)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
USD ($)
plan
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes $ 200    
Number of plans | plan 3    
Benefit obligation $ 9,200 $ 9,200  
Fair value of plan assets $ 6,000 $ 5,700  
Annual rate of return on plan assets 7.00% 7.00%  
Estimated future benefit payments $ 500    
Net periodic pension cost (income) $ 300 $ 300 $ 300
Minimum | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Discount rate 2.00% 3.00%  
Maximum | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Discount rate 2.25% 4.00%  
United Kingdom Subsidiary | UK Plan      
Defined Benefit Plan Disclosure [Line Items]      
Underfunded status of UK Plan $ 35,731 $ 15,765  
Annual rate of inflation 2.50% 2.00%  
Average life expectancy 24 years    
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes $ 2,900    
Future estimated employer contributions to be paid next year 5,000    
Benefit obligation 383,142 $ 322,766 281,776
Fair value of plan assets $ 347,411 $ 307,001 $ 264,194
Discount rate 1.40% 2.10%  
Annual rate of return on plan assets 4.30% 4.90% 5.00%
Net periodic pension cost (income) $ (3,233) $ (1,862) $ (3,082)
Selling, General and Administrative Expenses | UNITED STATES      
Defined Benefit Plan Disclosure [Line Items]      
Reclassification adjustment from AOCI, net of income taxes 300 200 200
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 1,900 $ 2,100
Other Noncurrent Liabilities | United Kingdom Subsidiary | UK Plan      
Defined Benefit Plan Disclosure [Line Items]      
Underfunded status of UK Plan $ 35,700 $ 15,800