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Employee Benefit Plans (Tables)
 9 Months Ended
Sep. 30, 2021
Defined benefit pension plans  
Defined Benefit Plan Disclosure [Line Items]  
Schedule of Defined Benefit Plans Disclosures
The tables below set forth the components of the Company’s net periodic expense (income) relating to retirement benefit plans. The service cost component is recognized within selling, general and administrative expenses and cost of goods and services, depending on the functional area of the underlying employees included in the plans, and the non-operating components of pension costs are included within other income, net in the Condensed Consolidated Statements of Earnings.

Qualified Defined Benefits
 Three Months Ended September 30,Nine Months Ended September 30,
 U.S. PlanNon-U.S. PlansU.S. PlanNon-U.S. Plans
 20212020202120202021202020212020
Service cost $1,784 $1,706 $1,398 $1,366 $5,351 $5,118 $4,238 $3,954 
Interest cost3,401 4,068 674 839 10,204 12,204 2,036 2,460 
Expected return on plan assets(7,245)(7,869)(1,793)(1,719)(21,735)(23,607)(5,412)(5,033)
Amortization:
Prior service cost (credit)53 57 (163)(126)159 170 (494)(365)
Recognized actuarial loss2,503 1,884 979 777 7,509 5,652 2,968 2,253 
Net periodic expense (income)$496 $(154)$1,095 $1,137 $1,488 $(463)$3,336 $3,269 
Supplemental Employee Retirement Plans, Defined Benefit [Member]  
Defined Benefit Plan Disclosure [Line Items]  
Schedule of Defined Benefit Plans Disclosures Non-Qualified Supplemental Benefits
Three Months Ended September 30,Nine Months Ended September 30,
2021202020212020
Service cost$390 $318 $1,171 $954 
Interest cost308 441 924 1,324 
Amortization:
   Prior service cost383 424 1,148 1,271 
   Recognized actuarial gain(418)(464)(1,254)(1,393)
Net periodic expense$663 $719 $1,989 $2,156