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Restructuring Expenses and Asset Impairments - Schedule of Pre-Tax Restructuring Expenses by Segment (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 11,776 | $ 21,044 | $ 12,083
Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 8,524 | 9,795 | 11,480
Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 165 | 1,094 | 603
Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 3,087 | 10,155 |
Operating Segments | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 5,580 | 2,879 | 2,458
Operating Segments | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,742 | 14,249 | 5,904
Operating Segments | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,524 | 1,364 | 2,184
Operating Segments | Severance Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,939 | 2,879 | 2,305
Operating Segments | Severance Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,742 | 3,000 | 5,454
Operating Segments | Severance Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,524 | 1,364 | 2,184
Operating Segments | Exit Costs | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 165 | 0 | 153
Operating Segments | Exit Costs | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0 | 1,094 | 450
Operating Segments | Exit Costs | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0 | 0 | 0
Operating Segments | Asset Impairment | FMT |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 2,476 | 0 |
Operating Segments | Asset Impairment | HST |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0 | 10,155 |
Operating Segments | Asset Impairment | FSDP |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0 | 0 |
Corporate office and other |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 930 | 2,552 | 1,537
Corporate office and other | Severance Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 319 | 2,552 | 1,537
Corporate office and other | Exit Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | 0 | 0 | $ 0
Corporate office and other | Asset Impairment |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring costs | $ 611 | $ 0 |

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