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Employee Benefit Plans - Components of Net Periodic Benefit Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Defined Benefit Pension Plans    
Defined Benefit Plan Disclosure [Line Items]    
Service cost $ 1,293 $ 1,109
Interest cost 2,540 3,781
Expected return on plan assets (4,627) (4,921)
Amortization of prior service cost 111 43
Recognized actuarial loss 2,785 2,359
Net periodic benefit cost (credit) 2,102 2,371
Postretirement Benefit Plans    
Defined Benefit Plan Disclosure [Line Items]    
Interest cost 19 35
Amortization of prior service cost (509) (509)
Recognized actuarial loss (2) (19)
Net periodic benefit cost (credit) $ (492) $ (493)