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Employee Benefit Plans - Narrative (Details) - USD ($)
 12 Months Ended
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%