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Employee Benefit Plans - Estimated Future Benefit Payments (Details)
 12 Months Ended
Dec. 31, 2020
USD ($)
Postretirement Plans  
Estimated future benefit payments, net of subsidies:  
2021 $ 6,800,000
2022 6,200,000
2023 5,600,000
2024 5,000,000.0
2025 4,600,000
Subsequent five years 17,000,000.0
Non-qualified pension plans  
Employee benefit plans  
Expected minimum required funding contributions in 2019 5,400,000
United States  
Employee benefit plans  
Employer contributions 0
Estimated future benefit payments, net of subsidies:  
2021 25,100,000
2022 26,300,000
2023 25,700,000
2024 25,500,000
2025 24,500,000
Subsequent five years 105,400,000
Foreign Plan  
Employee benefit plans  
Employer contributions 900,000
Expected minimum required funding contributions in 2019 1,000,000.0
Estimated future benefit payments, net of subsidies:  
2021 5,000,000.0
2022 6,200,000
2023 6,100,000
2024 6,400,000
2025 7,400,000
Subsequent five years $ 37,700,000