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Debt - Additional Information (Details) $ in Thousands |  |  |  |  |  | 3 Months Ended | 6 Months Ended | 9 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 30, 2021 USD ($) | Jun. 30, 2021 USD ($) | May 25, 2021 USD ($) | May 21, 2021 USD ($) | May 13, 2021 USD ($) | Oct. 03, 2021 USD ($) | Sep. 27, 2020 USD ($) | Jul. 04, 2021 | Oct. 03, 2021 USD ($) | Sep. 27, 2020 USD ($) | Aug. 01, 2021 USD ($) | May 25, 2021 EUR (€) | Apr. 28, 2021 USD ($) | Apr. 07, 2021 EUR (€) | Dec. 31, 2020 USD ($)
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss from the early extinguishment of debt |  |  |  |  |  | $ 0 | $ 0 |  | $ (20,184) | $ 0 |  |  |  |  |  |
Expected debt maturities through December 2021 |  |  |  |  |  | 275,799 |  |  | 275,799 |  |  |  |  |  |  |
Cash and cash equivalents |  |  |  |  |  | 160,012 |  |  | 160,012 |  |  |  |  |  | $ 564,848 | [1]
LIBOR |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Basis points (percent) |  |  |  |  |  |  |  | 1.25% |  |  |  |  |  |  |  |
Revolving Credit Facility |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt term |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum borrowing capacity |  | $ 750,000 |  |  |  | 750,000 |  |  | 750,000 |  |  |  |  |  |  |
Committed availability under credit facilities |  |  |  |  |  | 548,000 |  |  | 548,000 |  |  |  |  |  |  |
Proceeds from lines of credit | $ 50,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repayments of credit facility | $ 50,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Cash and cash equivalents |  |  |  |  |  | 160,012 |  |  | 160,012 |  |  |  |  |  |  |
Commercial Paper |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Committed availability under credit facilities |  | $ 500,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Reverse Treasury Lock Contract |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Funding target |  |  |  |  |  |  |  |  |  |  |  |  | $ 100,000 |  |  |
Gain (loss) on derivative |  |  |  |  | $ (1,356) |  |  |  |  |  |  |  |  |  |  |
Cross-currency swap |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Funding target | € |  |  |  |  |  |  |  |  |  |  |  |  |  | € 150,000,000 |  |
Gain (loss) on derivative |  |  |  | $ 4,387 |  |  |  |  |  |  |  |  |  |  |  |
5.75% debentures due November 2040 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Amount offered to be repurchased |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |  |  |
Debt |  |  |  |  |  | $ 536,173 |  |  | $ 536,173 |  |  |  | $ 600,000 |  | 599,279 |
Interest rate (percent) |  |  |  |  |  | 5.75% |  |  | 5.75% |  |  |  | 5.75% |  |  |
Portion of outstanding debt repurchased (percent) |  |  | 10.53% |  |  |  |  |  |  |  |  | 10.53% |  |  |  |
Cash cost of debt repurchased |  |  | $ 81,961 |  |  |  |  |  |  |  |  |  |  |  |  |
Non-cash write-offs, net |  |  |  |  | 73 |  |  |  |  |  |  |  |  |  |  |
Loss from the early extinguishment of debt |  |  |  |  | $ 20,184 |  |  |  |  |  |  |  |  |  |  |
1.0% Euro loan due May 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt |  |  | $ 177,780 |  |  | $ 0 |  |  | $ 0 |  |  |  |  |  | 183,662 |
Interest rate (percent) |  |  | 1.00% |  |  | 1.00% |  |  | 1.00% |  |  | 1.00% |  |  |  |
Debt principal | € |  |  |  |  |  |  |  |  |  |  |  | € 150,000,000 |  |  |  |
4.375% debentures due November 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 0 |  |  | $ 0 |  | $ 250,000 |  |  |  | 249,741 |
Interest rate (percent) |  |  |  |  |  |  |  |  |  |  | 4.375% |  |  |  |  |
9.2% debentures due August 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 0 |  |  | $ 0 |  | $ 4,321 |  |  |  | $ 4,320 |
Interest rate (percent) |  |  |  |  |  |  |  |  |  |  | 9.20% |  |  |  |  |
[1] | The year-end condensed consolidated balance sheet data was derived from audited financial statements, but does not include all disclosures required by accounting principles generally accepted in the United States of America.

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