| Benefit Plans - Projected Benefit Obligation (Details) - Defined Benefit Pension Plans - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | 
|---|---|---|---|
| United States | |||
| Defined Benefit Plan Disclosure | |||
| Projected benefit obligation | $ 288,482 | $ 267,392 | $ 246,311 | 
| Defined Benefit Plan, Funded (Unfunded) Status of Plan | |||
| Projected benefit obligation | 288,482 | 267,392 | |
| Plan assets | 263,837 | 231,413 | |
| Foreign | |||
| Defined Benefit Plan Disclosure | |||
| Projected benefit obligation | 114,889 | 101,192 | $ 84,435 | 
| Defined Benefit Plan, Funded (Unfunded) Status of Plan | |||
| Projected benefit obligation | 92,679 | 101,192 | |
| Plan assets | $ 76,658 | $ 85,308 | 
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- Definition Amount of actuarial present value of benefits attributed to service rendered by employee for defined benefit plan. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. No definition available. 
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- Definition Amount of plan asset for defined benefit pension plan with projected benefit obligation in excess of plan assets. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Amount of projected benefit obligation for defined benefit pension plan with projected benefit obligation in excess of plan assets. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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