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Defined Benefit Pension Plans - Schedule of Accumulated Benefit Obligation in Excess of the Fair Value of Plan Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019
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Retirement Benefits [Abstract] |  |
Projected benefit obligation | $ 132,732 | $ 110,656
Accumulated benefit obligation | 121,747 | 101,611
Fair value of plan assets | $ 10,206 | $ 9,059

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