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Fair Value Measurements - Pension Plan Assets within Fair Value Hierarchy (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
--- | --- | --- | ---
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | $ 741,191 | $ 714,017 | $ 649,688
US |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 404,275 | 403,144 |
Other plan liabilities, net | [1] | (7,336) | (26,220) |
Net plan assets |  | 396,939 | 376,924 |
US | Cash and Cash Equivalents |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 2,861 | 8,082 |
US | Short-term Investments |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 9,827 | 5,496 |
US | United States Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 66,145 | 60,039 |
US | International Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 28,529 | 26,142 |
US | United States Fixed Income Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 243,226 | 275,994 |
US | International Fixed Income Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 28,501 | 3,745 |
US | Asset Categories Other |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 25,186 | 23,646 |
US | Quoted Prices in Active Markets (Level 1) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 38,868 | 59,329 |
US | Quoted Prices in Active Markets (Level 1) | Cash and Cash Equivalents |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 2,861 | 8,082 |
US | Quoted Prices in Active Markets (Level 1) | United States Fixed Income Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 36,007 | 51,247 |
US | Significant Other Observable Inputs (Level 2) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 349,469 | 329,049 |
US | Significant Other Observable Inputs (Level 2) | Short-term Investments |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 9,827 | 5,496 |
US | Significant Other Observable Inputs (Level 2) | United States Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 66,145 | 60,039 |
US | Significant Other Observable Inputs (Level 2) | International Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 28,529 | 26,142 |
US | Significant Other Observable Inputs (Level 2) | United States Fixed Income Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 207,219 | 224,747 |
US | Significant Other Observable Inputs (Level 2) | International Fixed Income Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 28,501 | 3,745 |
US | Significant Other Observable Inputs (Level 2) | Asset Categories Other |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 9,248 | 8,880 |
US | Significant Unobservable Inputs (Level 3) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 15,938 | 14,766 | 16,488
US | Significant Unobservable Inputs (Level 3) | Asset Categories Other |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 15,938 | 14,766 |
U.K Plan |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 303,954 | 296,943 |
U.K Plan | Cash and Cash Equivalents |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 2,613 | 2,338 |
U.K Plan | United States Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 44,461 | 43,613 |
U.K Plan | International Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 7,510 | 9,418 |
U.K Plan | Money Market Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 162,276 | 167,741 |
U.K Plan | US Government Agencies Debt Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 42,564 | 34,926 |
U.K Plan | Alternative strategies |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 34,958 | 29,172 |
U.K Plan | Real Estate Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 9,572 | 9,735 |
U.K Plan | Quoted Prices in Active Markets (Level 1) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 2,613 | 2,338 |
U.K Plan | Quoted Prices in Active Markets (Level 1) | Cash and Cash Equivalents |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 2,613 | 2,338 |
U.K Plan | Significant Other Observable Inputs (Level 2) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 291,769 | 284,870 |
U.K Plan | Significant Other Observable Inputs (Level 2) | United States Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 44,461 | 43,613 |
U.K Plan | Significant Other Observable Inputs (Level 2) | International Equity Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 7,510 | 9,418 |
U.K Plan | Significant Other Observable Inputs (Level 2) | Money Market Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 162,276 | 167,741 |
U.K Plan | Significant Other Observable Inputs (Level 2) | US Government Agencies Debt Securities |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 42,564 | 34,926 |
U.K Plan | Significant Other Observable Inputs (Level 2) | Alternative strategies |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 34,958 | 29,172 |
U.K Plan | Significant Unobservable Inputs (Level 3) |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | 9,572 | 9,735 | $ 9,945
U.K Plan | Significant Unobservable Inputs (Level 3) | Real Estate Funds |  |  |  |
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] |  |  |  |
Total plan assets |  | $ 9,572 | $ 9,735 |
[1] | net amounts payable for unsettled security transactions.

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