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Consolidated Statements of Shareholders' Investment (Parentheticals) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Class Of Stock [Line Items]      
Net income (loss) attributable to redeemable noncontrolling interest $ 2,258 $ 3,191 $ 1,275
Class A Non-Voting      
Class Of Stock [Line Items]      
Cash dividends paid (in dollars per share) $ 0.19 $ 0.28 $ 0.28
Class B Voting      
Class Of Stock [Line Items]      
Cash dividends paid (in dollars per share) $ 0.17 $ 0.20 $ 0.20