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Retirement and Postretirement Benefits (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Components of the net periodic cost for retirement and postretirement benefits        
Transformation Charges   $ 5,618   $ 11,261
Selling, General and Administrative Expenses        
Components of the net periodic cost for retirement and postretirement benefits        
Transformation Charges   5,618   11,261
Eliminations and All Other        
Components of the net periodic cost for retirement and postretirement benefits        
Transformation Charges   5,618   11,261
Eliminations and All Other | Selling, General and Administrative Expenses        
Components of the net periodic cost for retirement and postretirement benefits        
Transformation Charges   5,618   11,261
Domestic Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost $ 5,800 6,600 $ 12,600 12,900
Interest cost 2,900 3,700 6,000 7,500
Expected return on plan assets (6,200) (6,100) (12,700) (12,800)
Amortization of prior service cost 100 100 100 100
Amortization of unrecognized net loss (gain) 2,000 1,800 3,900 3,500
Net periodic cost recognized 4,600 6,100 9,900 11,200
Foreign Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 1,900 1,700 3,700 3,400
Interest cost 1,400 1,600 2,800 3,200
Expected return on plan assets (1,700) (1,200) (3,200) (2,400)
Amortization of prior service cost 100 0 200 100
Amortization of unrecognized net loss (gain) 1,200 1,100 2,300 2,100
Net periodic cost recognized 2,900 3,200 5,800 6,400
Postretirement Medical Benefits        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 0 0 0 0
Interest cost 100 200 200 300
Expected return on plan assets 0 0 0 0
Amortization of prior service cost 100 0 100 100
Amortization of unrecognized net loss (gain) 0 0 0 (100)
Net periodic cost recognized $ 200 $ 200 $ 300 $ 300