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Condensed Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Statement Of Income And Comprehensive Income [Abstract] |  |
Taxes on deferred gains (losses) on cash flow hedges | $ (1,301) | $ 401
Taxes on unrecognized retirement obligations | $ (73) | $ 51

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