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Financing Arrangements - Revolving Credit Facilities and Available Liquidity (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Sep. 30, 2020
Line of Credit Facility [Line Items]      
Cash and cash equivalents $ 508,177 $ 366,119 $ 286,656
Total available liquidity 918,000   636,891
Revolving Credit Facility | Line of Credit | U.S. and Japan Credit Facilities      
Line of Credit Facility [Line Items]      
Debt, long-term and short-term, combined amount $ 65,108   $ 30,235