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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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The amount of annual premiums paid to insurance company for providing specific benefits to specific individuals in the Postretirement Plan.

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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.

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