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Retirement Plans - Projected Benefit Obligations and Fair Value of Plan Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
U.S.    
Defined Benefit Plan Disclosure [Line Items]    
Projected benefit obligations $ 494,273 $ 486,305
Fair value of plans' assets 437,234 417,074
U.K Plan    
Defined Benefit Plan Disclosure [Line Items]    
Projected benefit obligations 267,200 261,953
Fair value of plans' assets $ 303,957 $ 296,943