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Employee Benefit Plans - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items] |  |  |
Actuarial loss | $ 4,000,000.0 | $ 15,600,000 | $ 6,100,000
Net actuarial loss | 8,100,000 | 25,800,000 |
Total underfunded status | 141,900,000 |  |
Expected company contribution in the current period | $ 22,100,000 |  |
Employer contribution as percentage of employee contribution | 100.00% |  |
Annual contribution limit per employee | $ 11,400 |  |
Foreign Plan |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items] |  |  |
Actuarial loss | 4,000,000.0 | 15,600,000 | 6,100,000
Net actuarial loss | 8,100,000 |  |
Better than expected return on plan assets | 4,100,000 |  |
Compensation expense recognized | 21,800,000 | 20,600,000 | 20,500,000
United States |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items] |  |  |
Compensation expense recognized | $ 19,400,000 | $ 18,100,000 | $ 19,200,000
Minimum |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items] |  |  |
Percentage of employee contribution, basis for employer contribution | 0.00% |  |
Maximum |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items] |  |  |
Percentage of employee contribution, basis for employer contribution | 4.00% |  |

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- Definition Defined Benefit Plan, Actuarial Gain (Loss), Gross + References No definition available. + Details
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- Definition Defined Benefit Plan, Better Than Expected Return on Plan Assets + References No definition available. + Details
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- Definition Defined benefit plan, percentage of employee contribution, basis for employer contribution + References No definition available. + Details
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- Definition Defined Contribution Plan, Maximum Annual Employer Matching Contribution, Per Employee + References No definition available. + Details
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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(4) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Amount of contribution expected to be received by defined benefit plan from employer in next fiscal year following current fiscal year. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 18 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4587-114921 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Amount of cost for defined contribution plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 70 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=49170846&loc=d3e28014-114942 + Details
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