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Income Taxes - Deferred income taxes (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
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Income Tax Disclosure [Abstract] |  |  |  |
Accounts receivable allowance | $ 1,019 | $ 1,163 |  |
Accrued compensation | 14,655 | 9,553 |  |
Accrued pension liabilities | 4,950 | 9,116 |  |
Self-insured risks | 5,746 | 4,301 |  |
Deferred revenues | 5,376 | 4,249 |  |
Interest | 2,419 | 5,399 |  |
Tax credit carryforwards | 7,090 | 11,634 |  |
Loss carryforwards | 22,805 | 25,523 |  |
Lease liability | 31,435 | 29,785 |  |
Other | 2,158 | 3,436 |  |
Gross deferred income tax assets | 97,653 | 104,159 |  |
Unbilled revenues | 5,311 | 6,522 |  |
Repatriated earnings | 776 |  |  |
Depreciation and amortization | 23,474 | 28,025 |  |
Lease right-of-use asset | 27,513 | 25,865 |  |
Gross deferred income tax liabilities | 57,074 | 60,412 |  |
Net deferred income tax assets before valuation allowance | 40,579 | 43,747 |  |
Valuation allowance | (16,579) | (28,128) | $ (25,864) | $ (18,829)
Net deferred income tax assets | 24,000 | 15,619 |  |
Amounts recognized in the Consolidated Balance Sheets consist of: |  |  |  |
Deferred income tax assets | 25,595 | 17,971 |  |
Long-term deferred income tax liabilities included in "Other noncurrent liabilities" | (1,595) | (2,352) |  |
Net deferred income tax assets | $ 24,000 | $ 15,619 |  |

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