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Pension Plans and Other Postretirement Benefits - Domestic and Foreign Pension and Postretirement Defined Benefit Plans (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Defined Benefit Plan Disclosure [Line Items]    
Total net pension and postretirement benefits credit $ (4,226) $ (1,719)
Pension Plan    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 1,179 1,214
Interest cost 5,119 6,687
Expected return on assets (10,893) (10,063)
Amortization of prior service benefit 29 (51)
Total net pension and postretirement benefits credit (4,566) (2,213)
Postretirement Benefits    
Defined Benefit Plan Disclosure [Line Items]    
Service cost 31 26
Interest cost 309 468
Total net pension and postretirement benefits credit $ 340 $ 494