Pension Plans and Other Postretirement Benefits - Additional Information (Details) - USD ($) $ in Thousands		12 Months Ended
	Jan. 01, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation for defined benefit pension plans		$ 927,600	$ 867,400
Weighted-average expected rate of return on plan assets		6.72%	6.73%	6.73%
Actual rate of return		15.82%	(4.55%)	14.31%
Percentage of defined benefit plan assets in U.S. and U.K.		97.00%
Change in percentage of broad asset class targets		10.00%
Pension and postretirement contributions		$ 16,478	$ 15,236	$ 13,341
Assumed rate of increase in the pre-65 per capita cost of covered health care benefits for U.S. retirees		0.00%
Assumed rate of increase in the post-65 per capita cost of covered health care benefits for U.S. retirees		0.00%
Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in 2020		$ 13,000
Other Postretirement Benefits
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		0.00%	7.00%	7.00%
Discount rate		3.53%	4.55%
Expected premium contribution		$ 4,000
Projected benefit obligation recognized		55,089	$ 50,390	$ 56,647
Supplemental Executive Retirement Plan
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in 2020		1,200
Costs (credits) related to supplemental executive retirement plan		2,200	(800)	$ 2,600
Projected benefit obligation recognized		$ 21,300	$ 21,900
Foreign Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		5.51%	5.52%	6.16%
Discount rate		1.33%	2.15%	1.94%	2.00%
Projected benefit obligation recognized		$ 258,374	$ 240,303	$ 275,006
Foreign Plans | Employee Savings Plan | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 9,700	$ 10,200	$ 9,900
Foreign Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	4.07%
U.S. Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		6.89%	6.89%	6.89%
Discount rate		3.56%	4.59%	4.03%	4.43%
Projected benefit obligation recognized		$ 678,720	$ 635,866	$ 685,963
Defined contribution plan, employer matching contribution percentage		5.00%
U.S. Plans | 2004 Defined Contribution Plan | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 11,500	11,800	10,300
U.S. Plans | Employee Savings Plan | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 12,600	$ 12,700	$ 11,300
U.S. Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	6.88%