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Consolidated Statements of Changes in Equity (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Statement Of Stockholders Equity [Abstract] |  |  |
Cumulative-effect adjustment due to adoption of ASU 2016-01, income tax effect |  |  | $ 1,045
Foreign currency translation adjustments, income tax effect | $ 749 | $ 3,693 | 6,824
Unrealized derivative gains on cash flow hedges, income tax effect | 928 | 928 | 667
Minimum pension liability, income tax effect | $ (1,071) | $ (2,048) | $ (1,650)

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