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Retirement Plans - Plan Asset Allocation (Details)
Dec. 31, 2020
Dec. 31, 2019
U.S.    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 100.00% 100.00%
U.S. | Equity securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 23.40% 21.40%
U.S. | Fixed income securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 67.20% 69.30%
U.S. | Alternative strategies    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 6.20% 5.90%
U.S. | Cash, cash equivalents and short-term investment funds    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 3.10% 3.40%
U.K Plan    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 100.00% 100.00%
U.K Plan | Equity securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 17.10% 17.90%
U.K Plan | Fixed income securities    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 67.40% 68.30%
U.K Plan | Alternative strategies    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 14.70% 13.00%
U.K Plan | Cash, cash equivalents and short-term investment funds    
Defined Benefit Plan Disclosure [Line Items]    
Total asset allocation 0.90% 0.80%