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Retirement Plans - Fair Value Measurements and Expected Benefit Payments for Defined Benefit Pension Plans (Details) - Defined Benefit Pension Plans - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | $ 829,420 | $ 710,663 | $ 964,289
Expected benefit payments for defined benefit pension plans |  |  |
2021 | 21,387 |  |
2022 | 21,461 |  |
2023 | 21,677 |  |
2024 | 22,347 |  |
2025 | 23,065 |  |
2026 — 2030 | 125,302 |  |
Plan assets measured at fair value, net |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 827,913 | 710,073 |
Plan assets measured at fair value, net | Common Stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 5,252 | 5,346 |
Plan assets measured at fair value, net | Common or collective trusts - Equity Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 230,135 | 215,904 |
Plan assets measured at fair value, net | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 532 | 493 |
Plan assets measured at fair value, net | Government securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 12,036 | 12,962 |
Plan assets measured at fair value, net | Common or collective trusts - Debt securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 507,691 | 412,416 |
Plan assets measured at fair value, net | Guaranteed investment contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 20,588 | 19,650 |
Plan assets measured at fair value, net | Common or collective trusts - Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 51,679 | 43,302 |
Plan assets not measured at fair value, net |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 1,507 | 590 |
Level 1 | Plan assets measured at fair value, net |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 5,252 | 5,346 |
Level 1 | Plan assets measured at fair value, net | Common Stock |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 5,252 | 5,346 |
Level 2 | Plan assets measured at fair value, net |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 802,073 | 685,077 |
Level 2 | Plan assets measured at fair value, net | Common or collective trusts - Equity Securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 230,135 | 215,904 |
Level 2 | Plan assets measured at fair value, net | Corporate bonds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 532 | 493 |
Level 2 | Plan assets measured at fair value, net | Government securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 12,036 | 12,962 |
Level 2 | Plan assets measured at fair value, net | Common or collective trusts - Debt securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 507,691 | 412,416 |
Level 2 | Plan assets measured at fair value, net | Common or collective trusts - Other |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 51,679 | 43,302 |
Level 3 |  |  |
Reconciliation of the beginning and ending balances of the fair value measurements using significant unobservable inputs (Level 3): |  |  |
Balance at beginning of year | 19,650 | 374,724 |
Actual return on plan assets: Assets still held at reporting date | 2,092 | 1,609 |
Actual return on plan assets: Assets sold during the period | 0 | 49,524 |
Purchases | 343 | 187 |
Settlements | (1,497) | (406,394) |
Balance at end of year | 20,588 | 19,650 |
Level 3 | Plan assets measured at fair value, net |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | 20,588 | 19,650 |
Level 3 | Plan assets measured at fair value, net | Guaranteed investment contracts |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total plan assets, net | $ 20,588 | $ 19,650 |

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