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Pension and Other Postretirement Benefits - Plan assets and funded status (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Pension Benefits      
Change in projected benefit obligation (PBO)      
Service cost $ 8,839 $ 9,067 $ 9,217
Interest cost 10,937 11,897 11,832
Change in plan assets      
Fair value of plan assets at beginning of year 216,744    
Fair value of plan assets at end of year 247,304 216,744  
Postretirement Benefits      
Change in projected benefit obligation (PBO)      
Projected benefit obligation at beginning of year 14,412 16,052  
Service cost 574 657 955
Interest cost 557 490 713
Actuarial gain (loss) 2,288 (1,600)  
Curtailments 0 0  
Settlements 0 0  
Plan amendments 0 0  
Participants’ contributions 498 378  
Benefit payments (1,504) (1,565)  
Foreign currency translation 0 0  
Projected benefit obligation at end of year 16,825 14,412 16,052
Accumulated benefit obligation at end of year 16,825 14,412  
Change in plan assets      
Fair value of plan assets at beginning of year 0 0  
Return on plan assets 0 0  
Employer contributions 1,006 1,187  
Participants’ contributions 498 378  
Settlements 0 0  
Benefit payments (1,504) (1,565)  
Foreign currency translation 0 0  
Fair value of plan assets at end of year 0 0 0
Funded status (fair value of plan assets less PBO) (16,825) (14,412)  
Underfunded | Pension Benefits      
Change in projected benefit obligation (PBO)      
Projected benefit obligation at beginning of year 274,821 316,882  
Service cost 8,839 9,067  
Interest cost 10,208 11,040  
Actuarial gain (loss) 47,077 (22,436)  
Curtailments (116) (177)  
Settlements (27,438) (36,244)  
Plan amendments 1,464 0  
Participants’ contributions 0 0  
Benefit payments (2,605) (2,990)  
Foreign currency translation 290 (321)  
Projected benefit obligation at end of year 312,540 274,821 316,882
Accumulated benefit obligation at end of year 282,986 240,270  
Change in plan assets      
Fair value of plan assets at beginning of year 176,044 183,093  
Return on plan assets 33,799 (11,863)  
Employer contributions 24,540 44,105  
Participants’ contributions 0 0  
Settlements (27,438) (36,244)  
Benefit payments (2,605) (2,990)  
Foreign currency translation 9 (57)  
Fair value of plan assets at end of year 204,349 176,044 183,093
Funded status (fair value of plan assets less PBO) (108,191) (98,777)  
Overfunded | Pension Benefits      
Change in projected benefit obligation (PBO)      
Projected benefit obligation at beginning of year 25,629 35,468  
Service cost 0 0  
Interest cost 729 857  
Actuarial gain (loss) 2,628 (5,255)  
Curtailments 0 0  
Settlements 0 (3,507)  
Plan amendments 0 285  
Participants’ contributions 0 0  
Benefit payments (639) (580)  
Foreign currency translation 742 (1,639)  
Projected benefit obligation at end of year 29,089 25,629 35,468
Accumulated benefit obligation at end of year 27,412 23,821  
Change in plan assets      
Fair value of plan assets at beginning of year 40,700 50,767  
Return on plan assets 1,772 (3,846)  
Employer contributions 0 441  
Participants’ contributions 0 0  
Settlements 0 (3,507)  
Benefit payments (639) (580)  
Foreign currency translation 1,122 (2,575)  
Fair value of plan assets at end of year 42,955 40,700 $ 50,767
Funded status (fair value of plan assets less PBO) $ 13,866 $ 15,071