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Pension Plans and Other Postretirement Benefits Reconciliation of Benefit Obligations, Plan Assets and Funded Status of Plans, as well as Summary of Significant Assumptions for Benefit Plans (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Pension Plans |  |  |  |
Change in plan assets: |  |  |  |
Fair value of plan assets, beginning balance | $ 638,149 |  |  |
Fair value of plan assets, Ending Balance | 683,469 | $ 638,149 |  |
Other Postretirement Benefits |  |  |  |
Change in benefit obligations: |  |  |  |
Benefit obligation, beginning balance | 55,089 | 50,390 |  |
Service cost | 105 | 98 | $ 117 |
Interest cost | 1,871 | 2,197 | 2,168 |
Actuarial loss | (2,571) | 5,445 |  |
Benefits paid | (3,151) | (3,041) |  |
Benefit obligation, ending balance | 51,343 | 55,089 | 50,390 |
Change in plan assets: |  |  |  |
Fair value of plan assets, beginning balance | 0 | 0 |  |
Defined Benefit Plan, Plan Assets, Contributions by Employer | 3,151 | 3,041 |  |
Benefits paid | (3,151) | (3,041) |  |
Fair value of plan assets, Ending Balance | 0 | 0 | 0 |
Funded status | (51,343) | (55,089) |  |
Current liabilities (accrued expenses) | (3,268) | (4,190) |  |
Noncurrent liabilities (pension benefits) | (48,075) | (50,899) |  |
Net pension liability | $ (51,343) | $ (55,089) |  |
Weighted-average assumptions used to determine benefit obligations at December 31: |  |  |  |
Discount rate | 2.49% | 3.53% |  |
Rate of compensation increase | 3.50% | 3.50% |  |
U.S. Plans | Pension Plans |  |  |  |
Change in benefit obligations: |  |  |  |
Benefit obligation, beginning balance | $ 678,720 | $ 635,866 |  |
Service cost | 849 | 730 | 1,043 |
Interest cost | 23,402 | 28,199 | 26,804 |
Plan amendments | 0 | 0 |  |
Actuarial loss | 79,780 | 56,108 |  |
Benefits paid | (41,800) | (42,183) |  |
Employee contributions | 0 | 0 |  |
Foreign exchange loss (gain) | 0 | 0 |  |
Settlements/curtailments | 0 | 0 |  |
Other | 0 | 0 |  |
Benefit obligation, ending balance | 740,951 | 678,720 | 635,866 |
Change in plan assets: |  |  |  |
Fair value of plan assets, beginning balance | 556,683 | 513,075 |  |
Actual return on plan assets | 75,715 | 82,926 |  |
Defined Benefit Plan, Plan Assets, Contributions by Employer | 3,630 | 2,865 |  |
Benefits paid | (41,800) | (42,183) |  |
Employee contributions | 0 | 0 |  |
Foreign exchange gain | 0 | 0 |  |
Settlements/curtailments | 0 | 0 |  |
Other | 0 | 0 |  |
Fair value of plan assets, Ending Balance | 594,228 | 556,683 | $ 513,075 |
Funded status | (146,723) | (122,037) |  |
Current liabilities (accrued expenses) | (1,217) | (1,224) |  |
Noncurrent liabilities (pension benefits) | (145,506) | (120,813) |  |
Net pension liability | (146,723) | (122,037) |  |
Prior service benefit | 0 | 0 |  |
Net amount recognized | $ 0 | $ 0 |  |
Weighted-average assumptions used to determine benefit obligations at December 31: |  |  |  |
Discount rate | 2.50% | 3.56% | 4.59% | 4.03%
Rate of compensation increase | 0.00% | 0.00% |  |
Foreign Plans | Pension Plans |  |  |  |
Change in benefit obligations: |  |  |  |
Benefit obligation, beginning balance | $ 258,374 | $ 240,303 |  |
Service cost | 4,000 | 3,680 | $ 3,919 |
Interest cost | 3,357 | 4,998 | 5,144 |
Plan amendments | 593 | 0 |  |
Actuarial loss | 19,571 | 21,588 |  |
Benefits paid | (9,905) | (10,088) |  |
Employee contributions | 101 | 133 |  |
Foreign exchange loss (gain) | 19,858 | (1,772) |  |
Settlements/curtailments | (5,866) | (398) |  |
Other | 302 | (70) |  |
Benefit obligation, ending balance | 290,385 | 258,374 | 240,303 |
Change in plan assets: |  |  |  |
Fair value of plan assets, beginning balance | 81,466 | 70,584 |  |
Actual return on plan assets | 8,173 | 9,417 |  |
Defined Benefit Plan, Plan Assets, Contributions by Employer | 9,653 | 10,572 |  |
Benefits paid | (9,905) | (10,088) |  |
Employee contributions | 101 | 133 |  |
Foreign exchange gain | 4,110 | 1,316 |  |
Settlements/curtailments | (4,279) | (398) |  |
Other | (78) | (70) |  |
Fair value of plan assets, Ending Balance | 89,241 | 81,466 | $ 70,584 |
Funded status | (201,144) | (176,908) |  |
Current liabilities (accrued expenses) | (5,832) | (5,648) |  |
Noncurrent liabilities (pension benefits) | (195,312) | (171,260) |  |
Net pension liability | (201,144) | (176,908) |  |
Prior service benefit | (433) | 224 |  |
Net amount recognized | $ (433) | $ 224 |  |
Weighted-average assumptions used to determine benefit obligations at December 31: |  |  |  |
Discount rate | 0.86% | 1.33% | 2.15% | 1.94%
Rate of compensation increase | 3.82% | 3.72% |  |

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