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Pension and Postretirement Benefits - Components of Net Periodic Benefit Cost of Pension and Postretirement Benefit Plans (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Domestic Plans | Pension Plans        
Net periodic benefit cost:        
Interest cost $ 91 $ 168 $ 205 $ 328
Expected return on plan assets 12 (34) (15) (35)
Recognized net actuarial (gain) loss 159 130 310 265
Net periodic benefit cost 262 264 500 558
Domestic Plans | Postretirement Benefit Plans        
Net periodic benefit cost:        
Service cost 15 16 28 31
Interest cost 40 70 95 158
Amortization of prior service credit (2) (37) (3) (73)
Recognized net actuarial (gain) loss 42 (43) 98 39
Net periodic benefit cost 95 6 218 155
Foreign Pension Plans        
Net periodic benefit cost:        
Service cost 117 108 230 218
Interest cost 80 83 156 167
Expected return on plan assets (130) (129) (255) (260)
Recognized net actuarial (gain) loss 50 44 99 90
Net periodic benefit cost $ 117 $ 106 $ 230 $ 215