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Fair Value Measurements - Pension Plan Assets within Fair Value Hierarchy (Details) - USD ($) $ in Thousands		Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		$ 741,191	$ 714,017	$ 649,688
US
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		404,275	403,144
Other plan liabilities, net	[1]	(7,336)	(26,220)
Net plan assets		396,939	376,924
US | Cash and Cash Equivalents
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		2,861	8,082
US | Short-term Investments
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		9,827	5,496
US | United States Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		66,145	60,039
US | International Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		28,529	26,142
US | United States Fixed Income Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		243,226	275,994
US | International Fixed Income Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		28,501	3,745
US | Asset Categories Other
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		25,186	23,646
US | Quoted Prices in Active Markets (Level 1)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		38,868	59,329
US | Quoted Prices in Active Markets (Level 1) | Cash and Cash Equivalents
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		2,861	8,082
US | Quoted Prices in Active Markets (Level 1) | United States Fixed Income Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		36,007	51,247
US | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		349,469	329,049
US | Significant Other Observable Inputs (Level 2) | Short-term Investments
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		9,827	5,496
US | Significant Other Observable Inputs (Level 2) | United States Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		66,145	60,039
US | Significant Other Observable Inputs (Level 2) | International Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		28,529	26,142
US | Significant Other Observable Inputs (Level 2) | United States Fixed Income Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		207,219	224,747
US | Significant Other Observable Inputs (Level 2) | International Fixed Income Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		28,501	3,745
US | Significant Other Observable Inputs (Level 2) | Asset Categories Other
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		9,248	8,880
US | Significant Unobservable Inputs (Level 3)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		15,938	14,766	16,488
US | Significant Unobservable Inputs (Level 3) | Asset Categories Other
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		15,938	14,766
U.K Plan
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		303,954	296,943
U.K Plan | Cash and Cash Equivalents
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		2,613	2,338
U.K Plan | United States Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		44,461	43,613
U.K Plan | International Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		7,510	9,418
U.K Plan | Money Market Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		162,276	167,741
U.K Plan | US Government Agencies Debt Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		42,564	34,926
U.K Plan | Alternative strategies
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		34,958	29,172
U.K Plan | Real Estate Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		9,572	9,735
U.K Plan | Quoted Prices in Active Markets (Level 1)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		2,613	2,338
U.K Plan | Quoted Prices in Active Markets (Level 1) | Cash and Cash Equivalents
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		2,613	2,338
U.K Plan | Significant Other Observable Inputs (Level 2)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		291,769	284,870
U.K Plan | Significant Other Observable Inputs (Level 2) | United States Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		44,461	43,613
U.K Plan | Significant Other Observable Inputs (Level 2) | International Equity Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		7,510	9,418
U.K Plan | Significant Other Observable Inputs (Level 2) | Money Market Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		162,276	167,741
U.K Plan | Significant Other Observable Inputs (Level 2) | US Government Agencies Debt Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		42,564	34,926
U.K Plan | Significant Other Observable Inputs (Level 2) | Alternative strategies
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		34,958	29,172
U.K Plan | Significant Unobservable Inputs (Level 3)
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		9,572	9,735	$ 9,945
U.K Plan | Significant Unobservable Inputs (Level 3) | Real Estate Funds
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Total plan assets		$ 9,572	$ 9,735
[1] net amounts payable for unsettled security transactions.

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