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Retirement Plans - Schedule of Changes in Benefit Obligations and Assets (Details) - United Kingdom Subsidiary - UK Plan - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]      
Benefit obligation at beginning of year $ 322,766 $ 281,776  
Interest cost 6,401 7,961 $ 8,085
Actuarial loss 50,863 32,866  
Benefits paid (10,029) (12,059)  
Foreign currency exchange rate changes 13,141 12,222  
Benefit obligation at end of year 383,142 322,766 281,776
Defined Benefit Plan, Change in Fair Value of Plan Assets [Roll Forward]      
Fair value of plan assets at beginning of year 307,001 264,194  
Actual return on plan assets 34,380 38,808  
Employer contributions 4,665 4,428  
Benefits paid (10,029) (12,059)  
Foreign currency exchange rate changes 11,394 11,630  
Fair value of plan assets at end of year 347,411 307,001 $ 264,194
Funded status at end of year $ (35,731) $ (15,765)