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Common Stock (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Oct. 31, 2016
Class of Stock [Line Items]        
Dividends paid $ 109,147 $ 106,943 $ 101,511  
Amount paid for repurchase of common stock $ 15,740 $ 29,100 $ 46,957  
Treasury        
Class of Stock [Line Items]        
Repurchased shares 614,077 1,205,790 1,841,800  
Amount paid for repurchase of common stock $ 15,740 $ 29,100 $ 46,957  
Class B        
Class of Stock [Line Items]        
Number of shares authorized under share repurchase program       4,000,000
Remaining number of shares authorized to be repurchased 547,000