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Stockholders' Equity - Components of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Components of accumulated other comprehensive loss    
Unrecognized pension and postretirement costs, net of tax $ (8,002) $ (7,071)
Foreign currency translation losses, net of tax (3,760) (6,303)
Total accumulated other comprehensive loss, net of tax $ (11,762) $ (13,374)