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Pension Plans and Other Postretirement Benefits - Additional Information (Details) - USD ($) $ in Thousands |  | 12 Months Ended |
--- | --- | --- | ---
Jan. 01, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Accumulated benefit obligation for defined benefit pension plans |  | $ 1,020,000 | $ 927,600 |  |
Weighted-average expected rate of return on plan assets |  | 6.52% | 6.72% | 6.73% |
Actual rate of return |  | 13.15% | 15.82% | (4.55%) |
Percentage of defined benefit plan assets in U.S. and U.K. |  | 97.00% |  |  |
Change in percentage of broad asset class targets |  | 10.00% |  |  |
Pension and postretirement contributions |  | $ 16,434 | $ 16,478 | $ 15,236 |
Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Expected contributions to benefit plans in 2020 |  | $ 27,100 |  |  |
Other Postretirement Benefits |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Weighted-average expected rate of return on plan assets |  | 0.00% | 0.00% | 7.00% |
Discount rate |  | 2.49% | 3.53% |  |
Expected premium contribution |  | $ 3,300 |  |  |
Projected benefit obligation recognized |  | 51,343 | $ 55,089 | $ 50,390 |
Supplemental Executive Retirement Plan |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Expected contributions to benefit plans in 2020 |  | 1,200 |  |  |
Costs (credits) related to supplemental executive retirement plan |  | 3,800 | 2,200 | $ (800) |
Projected benefit obligation recognized |  | $ 23,100 | $ 21,300 |  |
Foreign Plans | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Weighted-average expected rate of return on plan assets |  | 4.07% | 5.51% | 5.52% |
Discount rate |  | 0.86% | 1.33% | 2.15% | 1.94%
Projected benefit obligation recognized |  | $ 290,385 | $ 258,374 | $ 240,303 |
Foreign Plans | Employee Savings Plan | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Defined contribution plan, employer contributions |  | $ 9,900 | $ 9,700 | $ 10,200 |
Foreign Plans | Subsequent Event | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Weighted-average expected rate of return on plan assets | 4.12% |  |  |  |
U.S. Plans | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Weighted-average expected rate of return on plan assets |  | 6.88% | 6.89% | 6.89% |
Discount rate |  | 2.50% | 3.56% | 4.59% | 4.03%
Projected benefit obligation recognized |  | $ 740,951 | $ 678,720 | $ 635,866 |
Defined contribution plan, employer matching contribution percentage |  | 5.00% |  |  |
U.S. Plans | 2004 Defined Contribution Plan | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Defined contribution plan, employer contributions |  | $ 6,900 | 11,500 | 11,800 |
Defined Contribution Plan, Deferred Cost |  | 4,800 |  |  |
U.S. Plans | Employee Savings Plan | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Defined contribution plan, employer contributions |  | 7,500 | $ 12,600 | $ 12,700 |
Defined Contribution Plan, Deferred Cost |  | $ 4,500 |  |  |
U.S. Plans | Subsequent Event | Pension Plans |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Weighted-average expected rate of return on plan assets | 6.88% |  |  |  |

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