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Pensions and Other Postretirement Benefits (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 USD ($) Plan | Dec. 31, 2018 USD ($) | Dec. 31, 2017 USD ($)
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in other assets |  | $ 303 | $ 356 |
Included in Payroll and related expenses |  | (8,885) | (8,147) |
Accrued pension and other postretirement costs |  | (272,402) | (260,984) |
Total actuarial items | [1] | 95,764 | 82,986 |
Components of actuarial items [Abstract] |  |  |  |
Total actuarial items | [1] | 95,764 | 82,986 |
Components of net periodic pension cost [Abstract] |  |  |  |
Amounts that will be amortized from accumulated other comprehensive loss into net periodic pension cost during next fiscal year |  | $ 8,000 |  |
Other postretirement benefits [Abstract] |  |  |  |
Number of unfunded non-pension postretirement plans | Plan |  | 2 |  |
Number of European subsidiaries with unfunded non-pension postretirement plans | Plan |  | 2 |  |
Other retirement obligations [Abstract] |  |  |  |
Company's matching expense for 401(k) savings plans |  | $ 6,481 | 6,353 | $ 5,843
Deferred Compensation [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 24,531 | 18,162 |
Non-qualified Pension Plans [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 27,012 | 22,409 |
Defined Benefit Pension [Member] | U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 38,169 | 39,917 |
Service cost |  | 0 | 0 | 0
Interest cost |  | 1,696 | 1,484 | 1,643
Plan amendments |  | 0 | 0 |
Actuarial (gains) losses |  | 4,309 | (1,431) |
Benefits paid |  | (1,791) | (1,801) |
Currency translation |  | 0 | 0 |
Benefit obligation at end of year |  | 42,383 | 38,169 | 39,917
Change in plan assets [Roll forward] |  |  |  |
Fair value of plan assets at beginning of year |  | 0 | 0 |
Actual return on plan assets |  | 0 | 0 |
Company contributions |  | 1,791 | 1,801 |
Benefits paid |  | (1,791) | (1,801) |
Currency translation |  | 0 | 0 |
Fair value of plan assets at end of year |  | 0 | 0 | 0
Funded status at end of year |  | (42,383) | (38,169) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in other assets |  | 0 | 0 |
Included in Payroll and related expenses |  | (35) | (35) |
Accrued pension and other postretirement costs |  | (42,348) | (38,134) |
Total actuarial items |  | 8,839 | 5,501 |
Total |  | (33,544) | (32,668) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 8,199 | 4,717 |
Unamortized prior service cost |  | 640 | 784 |
Total actuarial items |  | 8,839 | 5,501 |
Projected and accumulated benefit obligations [Abstract] |  |  |  |
Accumulated benefit obligation, all plans |  | 42,383 | 38,169 |
Plans for which the accumulated benefit obligation exceeds plan assets [Abstract] |  |  |  |
Projected benefit obligation |  | 42,383 | 38,169 |
Accumulated benefit obligation |  | 42,383 | 38,169 |
Fair value of plan assets |  | 0 | 0 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 0 | 0 | 0
Interest cost |  | 1,696 | 1,484 | 1,643
Expected return on plan assets |  | 0 | 0 | 0
Amortization of actuarial losses |  | 827 | 656 | 587
Amortization of prior service (credit) cost |  | 144 | 144 | 144
Curtailment and settlement losses |  | 0 | 0 | 0
Net periodic benefit cost (benefit) |  | $ 2,667 | $ 2,284 | 2,374
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 3.25% | 4.50% |
Rate of compensation increase |  | 0.00% | 0.00% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 4.50% | 3.75% |
Rate of compensation increase |  | 0.00% | 0.00% |
Expected return on plan assets |  | 0.00% | 0.00% |
Estimated future benefit payments [Abstract] |  |  |  |
2020 |  | $ 1,872 |  |
2021 |  | 1,870 |  |
2022 |  | 8,311 |  |
2023 |  | 3,185 |  |
2024 |  | 3,183 |  |
2025-2029 |  | 17,460 |  |
Defined Benefit Pension [Member] | Non-U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 275,207 | $ 294,187 |
Service cost |  | 3,382 | 3,822 | 3,725
Interest cost |  | 5,116 | 4,793 | 4,866
Plan amendments |  | 0 | 125 |
Actuarial (gains) losses |  | 20,115 | (1,311) |
Benefits paid |  | (18,985) | (14,397) |
Currency translation |  | (1,274) | (12,012) |
Benefit obligation at end of year |  | 283,561 | 275,207 | 294,187
Change in plan assets [Roll forward] |  |  |  |
Fair value of plan assets at beginning of year |  | 70,820 | 70,605 |
Actual return on plan assets |  | 4,614 | 1,412 |
Company contributions |  | 15,443 | 16,105 |
Benefits paid |  | (18,985) | (14,397) |
Currency translation |  | 1,737 | (2,905) |
Fair value of plan assets at end of year |  | 73,629 | 70,820 | 70,605
Funded status at end of year |  | (209,932) | (204,387) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in other assets |  | 303 | 356 |
Included in Payroll and related expenses |  | (7,362) | (7,228) |
Accrued pension and other postretirement costs |  | (202,873) | (197,515) |
Total actuarial items |  | 84,926 | 76,698 |
Total |  | (125,006) | (127,689) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 84,523 | 76,254 |
Unamortized prior service cost |  | 403 | 444 |
Total actuarial items |  | 84,926 | 76,698 |
Projected and accumulated benefit obligations [Abstract] |  |  |  |
Accumulated benefit obligation, all plans |  | 264,723 | 258,244 |
Plans for which the accumulated benefit obligation exceeds plan assets [Abstract] |  |  |  |
Projected benefit obligation |  | 252,469 | 247,066 |
Accumulated benefit obligation |  | 239,341 | 235,167 |
Fair value of plan assets |  | 44,670 | 45,818 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 3,382 | 3,822 | 3,725
Interest cost |  | 5,116 | 4,793 | 4,866
Expected return on plan assets |  | (1,956) | (1,889) | (2,072)
Amortization of actuarial losses |  | 5,374 | 6,196 | 6,179
Amortization of prior service (credit) cost |  | 197 | 318 | 150
Curtailment and settlement losses |  | 2,183 | 1,111 | 1,360
Net periodic benefit cost (benefit) |  | $ 14,296 | $ 14,351 | 14,208
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 1.40% | 1.96% |
Rate of compensation increase |  | 2.24% | 2.17% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 1.96% | 1.80% |
Rate of compensation increase |  | 2.17% | 2.10% |
Expected return on plan assets |  | 2.77% | 2.95% |
Estimated future benefit payments [Abstract] |  |  |  |
2020 |  | $ 15,485 |  |
2021 |  | 15,064 |  |
2022 |  | 18,071 |  |
2023 |  | 16,306 |  |
2024 |  | 16,154 |  |
2025-2029 |  | 81,415 |  |
Other Postretirement Benefits [Member] | U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 6,994 | $ 7,633 |
Service cost |  | 157 | 137 | 131
Interest cost |  | 286 | 273 | 311
Actuarial (gains) losses |  | 939 | (344) |
Benefits paid |  | (687) | (705) |
Currency translation |  | 0 | 0 |
Benefit obligation at end of year |  | 7,689 | 6,994 | 7,633
Change in plan assets [Roll forward] |  |  |  |
Fair value of plan assets at beginning of year |  | 0 |  |
Fair value of plan assets at end of year |  | 0 | 0 |
Funded status at end of year |  | (7,689) | (6,994) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in Payroll and related expenses |  | (872) | (703) |
Accrued pension and other postretirement costs |  | (6,817) | (6,291) |
Total actuarial items |  | (180) | (1,257) |
Total |  | (7,869) | (8,251) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | (180) | (1,257) |
Total actuarial items |  | (180) | (1,257) |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 157 | 137 | 131
Interest cost |  | 286 | 273 | 311
Amortization of actuarial losses |  | (138) | (39) | (93)
Amortization of prior service (credit) cost |  | 0 | (148) | (837)
Net periodic benefit cost (benefit) |  | $ 305 | $ 223 | (488)
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 3.25% | 4.50% |
Rate of compensation increase |  | 0.00% | 0.00% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 4.50% | 3.75% |
Rate of compensation increase |  | 0.00% | 0.00% |
Estimated future benefit payments [Abstract] |  |  |  |
2020 |  | $ 872 |  |
2021 |  | 839 |  |
2022 |  | 798 |  |
2023 |  | 721 |  |
2024 |  | 670 |  |
2025-2029 |  | 2,440 |  |
Other Postretirement Benefits [Member] | Non-U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 7,953 | $ 7,898 |
Service cost |  | 284 | 288 | 273
Interest cost |  | 123 | 114 | 103
Actuarial (gains) losses |  | 311 | 327 |
Benefits paid |  | (413) | (303) |
Currency translation |  | (149) | (371) |
Benefit obligation at end of year |  | 8,109 | 7,953 | 7,898
Change in plan assets [Roll forward] |  |  |  |
Fair value of plan assets at beginning of year |  | 0 |  |
Fair value of plan assets at end of year |  | 0 | 0 |
Funded status at end of year |  | (8,109) | (7,953) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in Payroll and related expenses |  | (616) | (181) |
Accrued pension and other postretirement costs |  | (7,493) | (7,772) |
Total actuarial items |  | 2,179 | 2,044 |
Total |  | (5,930) | (5,909) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 2,179 | 2,044 |
Total actuarial items |  | 2,179 | 2,044 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 284 | 288 | 273
Interest cost |  | 123 | 114 | 103
Amortization of actuarial losses |  | 107 | 105 | 76
Amortization of prior service (credit) cost |  | 0 | 0 | 0
Net periodic benefit cost (benefit) |  | $ 514 | $ 507 | $ 452
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 0.81% | 1.60% |
Rate of compensation increase |  | 2.87% | 3.18% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 1.60% | 1.50% |
Rate of compensation increase |  | 3.18% | 2.88% |
Estimated future benefit payments [Abstract] |  |  |  |
2020 |  | $ 616 |  |
2021 |  | 251 |  |
2022 |  | 574 |  |
2023 |  | 266 |  |
2024 |  | 490 |  |
2025-2029 |  | 2,794 |  |
Other Retirement Obligations [Member] |  |  |  |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Accrued pension and other postretirement costs |  | (12,871) | $ (11,272) |
Dr. Felix Zandman [Member] | Non-qualified Pension Plans [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 605 | $ 1,199 |
Deferred compensation arrangement, annual retirement benefit to surviving spouse |  | $ 614 |  |
[1] | Amounts included in accumulated other comprehensive loss are presented in this table pre-tax.

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