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Retirement Benefits - Components of Net Periodic Benefit Cost for Defined Benefit Plans and Other Postretirement Plans (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Pension Benefits | U.S. Plans |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Service cost | $ 134 | $ 653 | $ 886
Interest cost | 1,274 | 2,796 | 2,634
Expected return on plan assets | (3,750) | (3,319) | (3,943)
Settlement loss recognized | 910 | 713 | (1)
Special termination benefit recognized | 0 | 276 | 0
Net amortization | 1,163 | 1,614 | 2,712
Net periodic (benefit) cost | (269) | 2,733 | 2,288
Pension Benefits | Non-U.S. Plans |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Service cost | 2,215 | 1,844 | 2,105
Interest cost | 1,056 | 1,440 | 1,389
Expected return on plan assets | (1,170) | (1,047) | (1,120)
Settlement loss recognized | (385) | 0 | (307)
Special termination benefit recognized | 0 | 0 | 0
Net amortization | 1,730 | 1,117 | 1,271
Net periodic (benefit) cost | 3,446 | 3,354 | 3,338
Other Benefits |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Service cost | 616 | 561 | 668
Interest cost | 624 | 849 | 810
Net amortization | (542) | (635) | (737)
Net periodic (benefit) cost | $ 698 | $ 775 | $ 741

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