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Pension Plans and Other Postretirement Benefits Components of Pension and Postretirement Benefits Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Weighted-average assumption percentages: |  |  |
Expected return on plan assets | 6.52% | 6.72% | 6.73%
Other Postretirement Benefits |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Service cost | $ 105 | $ 98 | $ 117
Interest cost | 1,871 | 2,197 | 2,168
Expected return on assets | 0 | 0 | (7)
Actuarial loss (gain) | (2,573) | 5,449 | (5,400)
Amortization of prior service benefit | 0 | 0 | (48)
Total net pension benefits cost (credit) | $ (597) | $ 7,744 | $ (3,170)
Weighted-average assumption percentages: |  |  |
Discount rate | 3.53% | 4.55% | 3.99%
Expected return on plan assets | 0.00% | 0.00% | 7.00%
Rate of compensation increase | 3.50% | 3.50% | 3.50%
U.S. Plans | Pension Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Service cost | $ 849 | $ 730 | $ 1,043
Interest cost | 23,402 | 28,199 | 26,804
Expected return on assets | (36,957) | (33,926) | (38,621)
Actuarial loss (gain) | 40,653 | 7,106 | 30,234
Amortization of prior service benefit | 0 | 0 | 60
Total net pension benefits cost (credit) | $ 27,947 | $ 2,109 | $ 19,520
Weighted-average assumption percentages: |  |  |
Expected return on plan assets | 6.88% | 6.89% | 6.89%
Rate of compensation increase | 0.00% | 0.00% | 0.00%
Foreign Plans | Pension Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Service cost | $ 4,000 | $ 3,680 | $ 3,919
Interest cost | 3,357 | 4,998 | 5,144
Expected return on assets | (3,274) | (3,837) | (4,204)
Actuarial loss (gain) | 14,189 | 16,784 | (10,833)
Amortization of prior service benefit | 36 | 37 | 34
Total net pension benefits cost (credit) | $ 18,308 | $ 21,662 | $ (5,940)
Weighted-average assumption percentages: |  |  |
Expected return on plan assets | 4.07% | 5.51% | 5.52%
Rate of compensation increase | 3.72% | 3.63% | 3.18%

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- Definition Amount of prior service cost (credit) recognized in net periodic benefit cost (credit) of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4179-114921 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h)(5) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 45 -Paragraph 3A -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=109237824&loc=SL108413299-114919 Reference 4: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 18 -URI http://asc.fasb.org/extlink&oid=118257860&loc=d3e4587-114921 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 6 -Subparagraph (a)(5) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2709-114920 + Details
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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(3) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2919-114920 + Details
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