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Fair Value Measurements - Recurring Basis (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Fair value of assets and liabilities measured on recurring basis |  |  |
Proceeds from the sales and maturities of available-for-sale securities | $ 0 | $ 0 | $ 175,000,000
Fair value, recurring basis |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Deferred compensation trusts | 9,626,000 | 7,719,000 |
Fair value, recurring basis | Foreign currency |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Derivative assets | 22,667,000 | 7,167,000 |
Derivative liabilities | 2,571,000 | 6,561,000 |
Fair value, recurring basis | Commodity |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Derivative assets | 806,000 | 46,000 |
Derivative liabilities | 5,059,000 | 1,247,000 |
Fair value, recurring basis | Level 1 |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Deferred compensation trusts | 9,626,000 | 7,719,000 |
Fair value, recurring basis | Level 2 | Foreign currency |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Derivative assets | 22,667,000 | 7,167,000 |
Derivative liabilities | 2,571,000 | 6,561,000 |
Fair value, recurring basis | Level 2 | Commodity |  |  |
Fair value of assets and liabilities measured on recurring basis |  |  |
Derivative assets | 806,000 | 46,000 |
Derivative liabilities | $ 5,059,000 | $ 1,247,000 |

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