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Pensions and Other Postretirement Benefits (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 USD ($) Plan | Dec. 31, 2019 USD ($) | Dec. 31, 2018 USD ($)
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in other assets |  | $ 312 | $ 303 |
Included in Payroll and related expenses |  | (9,753) | (8,885) |
Accrued pension and other postretirement costs |  | (300,113) | (272,402) |
Total actuarial items | [1] | 107,652 | 95,764 |
Components of actuarial items [Abstract] |  |  |  |
Total actuarial items | [1] | 107,652 | 95,764 |
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 |  | $ 10,000 |  |
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 |  | $ 6,363 | 6,481 | $ 6,353
Deferred Compensation [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 27,491 | 24,531 |
Non-qualified Pension Plans [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 29,157 | 27,012 |
Defined Benefit Pension [Member] | U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 42,383 | 38,169 |
Service cost |  | 0 | 0 | 0
Interest cost |  | 1,366 | 1,696 | 1,484
Plan amendments |  | 0 | 0 |
Actuarial (gains) losses |  | 3,623 | 4,309 |
Benefits paid |  | (1,808) | (1,791) |
Curtailments and settlements |  | 0 | 0 |
Currency translation |  | 0 | 0 |
Benefit obligation at end of year |  | 45,564 | 42,383 | 38,169
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 |  | 1,808 | 1,791 |
Benefits paid |  | (1,808) | (1,791) |
Currency translation |  | 0 | 0 |
Fair value of plan assets at end of year |  | 0 | 0 | 0
Funded status at end of year |  | (45,564) | (42,383) |
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 |  | (45,529) | (42,348) |
Total actuarial items |  | 10,709 | 8,839 |
Total |  | (34,855) | (33,544) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 10,212 | 8,199 |
Unamortized prior service cost |  | 497 | 640 |
Total actuarial items |  | 10,709 | 8,839 |
Projected and accumulated benefit obligations [Abstract] |  |  |  |
Accumulated benefit obligation, all plans |  | 45,564 | 42,383 |
Plans for which the accumulated benefit obligation exceeds plan assets [Abstract] |  |  |  |
Projected benefit obligation |  | 45,564 | 42,383 |
Accumulated benefit obligation |  | 45,564 | 42,383 |
Fair value of plan assets |  | 0 | 0 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 0 | 0 | 0
Interest cost |  | 1,366 | 1,696 | 1,484
Expected return on plan assets |  | 0 | 0 | 0
Amortization of actuarial losses |  | 1,609 | 827 | 656
Amortization of prior service (credit) cost |  | 144 | 144 | 144
Curtailment and settlement losses |  | 0 | 0 | 0
Net periodic benefit cost (benefit) |  | $ 3,119 | $ 2,667 | 2,284
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 2.25% | 3.25% |
Rate of compensation increase |  | 0.00% | 0.00% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 3.25% | 4.50% |
Rate of compensation increase |  | 0.00% | 0.00% |
Expected return on plan assets |  | 0.00% | 0.00% |
Estimated future benefit payments [Abstract] |  |  |  |
2021 |  | $ 1,904 |  |
2022 |  | 1,901 |  |
2023 |  | 8,502 |  |
2024 |  | 3,260 |  |
2025 |  | 9,505 |  |
2026-2030 |  | 11,379 |  |
Defined Benefit Pension [Member] | Non-U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 283,561 | $ 275,207 |
Service cost |  | 4,382 | 3,382 | 3,822
Interest cost |  | 3,783 | 5,116 | 4,793
Plan amendments |  | 1,015 | 0 |
Actuarial (gains) losses |  | 10,920 | 20,115 |
Benefits paid |  | (17,737) | (18,985) |
Curtailments and settlements |  | (464) | 0 |
Currency translation |  | 22,349 | (1,274) |
Benefit obligation at end of year |  | 307,809 | 283,561 | 275,207
Change in plan assets [Roll forward] |  |  |  |
Fair value of plan assets at beginning of year |  | 73,629 | 70,820 |
Actual return on plan assets |  | 2,811 | 4,614 |
Company contributions |  | 12,149 | 15,443 |
Benefits paid |  | (17,737) | (18,985) |
Currency translation |  | 3,482 | 1,737 |
Fair value of plan assets at end of year |  | 74,334 | 73,629 | 70,820
Funded status at end of year |  | (233,475) | (209,932) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in other assets |  | 312 | 303 |
Included in Payroll and related expenses |  | (8,314) | (7,362) |
Accrued pension and other postretirement costs |  | (225,473) | (202,873) |
Total actuarial items |  | 94,480 | 84,926 |
Total |  | (138,995) | (125,006) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 94,072 | 84,523 |
Unamortized prior service cost |  | 408 | 403 |
Total actuarial items |  | 94,480 | 84,926 |
Projected and accumulated benefit obligations [Abstract] |  |  |  |
Accumulated benefit obligation, all plans |  | 287,169 | 264,723 |
Plans for which the accumulated benefit obligation exceeds plan assets [Abstract] |  |  |  |
Projected benefit obligation |  | 288,212 | 252,469 |
Accumulated benefit obligation |  | 275,816 | 239,341 |
Fair value of plan assets |  | 59,070 | 44,670 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 4,382 | 3,382 | 3,822
Interest cost |  | 3,783 | 5,116 | 4,793
Expected return on plan assets |  | (2,004) | (1,956) | (1,889)
Amortization of actuarial losses |  | 6,554 | 5,374 | 6,196
Amortization of prior service (credit) cost |  | 378 | 197 | 318
Curtailment and settlement losses |  | 1,148 | 2,183 | 1,111
Net periodic benefit cost (benefit) |  | $ 14,241 | $ 14,296 | 14,351
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 1.02% | 1.40% |
Rate of compensation increase |  | 2.02% | 2.24% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 1.40% | 1.96% |
Rate of compensation increase |  | 2.24% | 2.17% |
Expected return on plan assets |  | 2.35% | 2.77% |
Estimated future benefit payments [Abstract] |  |  |  |
2021 |  | $ 16,593 |  |
2022 |  | 19,235 |  |
2023 |  | 17,033 |  |
2024 |  | 16,808 |  |
2025 |  | 17,957 |  |
2026-2030 |  | 84,994 |  |
Other Postretirement Benefits [Member] | U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 7,689 | $ 6,994 |
Service cost |  | 112 | 157 | 137
Interest cost |  | 236 | 286 | 273
Actuarial (gains) losses |  | 550 | 939 |
Benefits paid |  | (864) | (687) |
Currency translation |  | 0 | 0 |
Benefit obligation at end of year |  | 7,723 | 7,689 | 6,994
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 |  | (7,723) | (7,689) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in Payroll and related expenses |  | (929) | (872) |
Accrued pension and other postretirement costs |  | (6,794) | (6,817) |
Total actuarial items |  | 344 | (180) |
Total |  | (7,379) | (7,869) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 344 | (180) |
Total actuarial items |  | 344 | (180) |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 112 | 157 | 137
Interest cost |  | 236 | 286 | 273
Amortization of actuarial losses |  | 26 | (138) | (39)
Amortization of prior service (credit) cost |  | 0 | 0 | (148)
Curtailment and settlement losses |  | 0 | 0 | 0
Net periodic benefit cost (benefit) |  | $ 374 | $ 305 | 223
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 2.25% | 3.25% |
Rate of compensation increase |  | 0.00% | 0.00% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 3.25% | 4.50% |
Rate of compensation increase |  | 0.00% | 0.00% |
Estimated future benefit payments [Abstract] |  |  |  |
2021 |  | $ 929 |  |
2022 |  | 855 |  |
2023 |  | 783 |  |
2024 |  | 703 |  |
2025 |  | 626 |  |
2026-2030 |  | 2,216 |  |
Other Postretirement Benefits [Member] | Non-U.S. Plans [Member] |  |  |  |
Change in benefit obligation [Roll forward] |  |  |  |
Benefit obligation at beginning of year |  | 8,109 | $ 7,953 |
Service cost |  | 284 | 284 | 288
Interest cost |  | 64 | 123 | 114
Actuarial (gains) losses |  | 35 | 311 |
Benefits paid |  | (706) | (413) |
Currency translation |  | 724 | (149) |
Benefit obligation at end of year |  | 8,510 | 8,109 | 7,953
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 |  | (8,510) | (8,109) |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Included in Payroll and related expenses |  | (475) | (616) |
Accrued pension and other postretirement costs |  | (8,035) | (7,493) |
Total actuarial items |  | 2,119 | 2,179 |
Total |  | (6,391) | (5,930) |
Components of actuarial items [Abstract] |  |  |  |
Unrecognized net actuarial loss (gain) |  | 2,119 | 2,179 |
Total actuarial items |  | 2,119 | 2,179 |
Components of net periodic pension cost [Abstract] |  |  |  |
Net service cost |  | 284 | 284 | 288
Interest cost |  | 64 | 123 | 114
Amortization of actuarial losses |  | 132 | 107 | 105
Amortization of prior service (credit) cost |  | 0 | 0 | 0
Curtailment and settlement losses |  | 177 | 0 | 0
Net periodic benefit cost (benefit) |  | $ 657 | $ 514 | $ 507
Weighted average assumptions used to calculate benefit obligations [Abstract] |  |  |  |
Discount rate |  | 0.54% | 0.81% |
Rate of compensation increase |  | 2.87% | 2.87% |
Weighted average assumptions used calculating net periodic benefit cost [Abstract] |  |  |  |
Discount rate |  | 0.81% | 1.60% |
Rate of compensation increase |  | 2.87% | 3.18% |
Estimated future benefit payments [Abstract] |  |  |  |
2021 |  | $ 475 |  |
2022 |  | 547 |  |
2023 |  | 275 |  |
2024 |  | 257 |  |
2025 |  | 558 |  |
2026-2030 |  | 3,243 |  |
Other Retirement Obligations [Member] |  |  |  |
Amounts recognized in balance sheet associated with retirement benefit plans [Abstract] |  |  |  |
Accrued pension and other postretirement costs |  | (14,282) | $ (12,871) |
Dr. Felix Zandman [Member] | Non-qualified Pension Plans [Member] |  |  |  |
Defined benefit pension plans [Abstract] |  |  |  |
Assets held in trust |  | 1,243 | $ 605 |
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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- Definition Amount of projected benefit obligation for defined benefit pension plan with accumulated benefit obligation in excess of plan assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2417-114920 + Details
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- Definition Amount of increase (decrease) in benefit obligation of defined benefit plan from change in terms of existing plan or initiation of new plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(7) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Amount of payment to participant under defined benefit plan which decreases plan assets. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(5) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 60 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=6414203&loc=d3e39716-114964 + Details
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- Definition Amount of foreign currency translation gain (loss) which increases (decreases) plan assets of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Amount of gain (loss) recognized in net periodic benefit (cost) credit from settlement and curtailment. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 6 -Subparagraph (a)(7) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2709-114920 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h)(7) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 45 -Paragraph 3A -URI http://asc.fasb.org/extlink&oid=109237824&loc=SL108413299-114919 + Details
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