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Retirement Plans - Assumptions (Details)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
U.S.    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 2.38% 3.15%
Discount rate used to compute periodic benefit cost 3.15% 4.31%
Expected long-term rates of return on plans' assets 4.70% 6.10%
U.K Plan    
Defined Benefit Plan Disclosure [Line Items]    
Discount rate used to compute benefit obligations 1.60% 1.93%
Discount rate used to compute periodic benefit cost 1.93% 2.77%
Expected long-term rates of return on plans' assets 2.54% 3.28%