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Retirement Plans - Narrative (Details) - USD ($)
12 Months Ended
Aug. 28, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits        
Defined Contribution Plan Disclosure [Line Items]        
Deferred compensation liability, current and noncurrent   $ 2,591,000 $ 2,544,000  
Qualified Plan        
Defined Contribution Plan Disclosure [Line Items]        
Employer discretionary contribution, percent of qualified cash compensation (up to)   5.00%    
Qualified Plan | United States        
Defined Contribution Plan Disclosure [Line Items]        
Employer contributions   $ 3,583,000 3,311,000 $ 3,337,000
Qualified Plan | Foreign Plan        
Defined Contribution Plan Disclosure [Line Items]        
Employer contributions   7,347,000 8,070,000 $ 7,613,000
Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits        
Defined Contribution Plan Disclosure [Line Items]        
Contributions by employer   $ 0 $ 0  
Dividends, common stock, stock (in shares) $ 2,709,851      
Phantom shares issuable (in shares)   30,590,955 30,768,633  
Share-based Payment Arrangement, Tranche One | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | Prior to January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   20.00%    
Share-based Payment Arrangement, Tranche One | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | After January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   100.00%    
Share-based Payment Arrangement, Tranche Two | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | Prior to January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   20.00%    
Share-based Payment Arrangement, Tranche Three | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | Prior to January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   20.00%    
Share-Based Payment Arrangement, Tranche Four | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | Prior to January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   20.00%    
Share-Based Payment Arrangement, Tranche Five | Nonqualified Plan | Deferred Compensation Arrangement with Individual, by Type of Compensation, Pension and Other Postretirement Benefits | Prior to January 2016 Awards        
Defined Contribution Plan Disclosure [Line Items]        
Vesting percentage   20.00%