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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%