Changes in Accumulated Other Comprehensive Income (Loss) by Component - Amount Reclassified from Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	$ (3,942)	$ (4,324)
Net sales	301,629	330,671
Income before income taxes	26,975	43,395
Tax benefit	(7,593)	(13,662)
Net income	19,382	29,733
Amount Reclassified from Accumulated Other Comprehensive Income (Loss)
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Net income	(3,370)	(3,181)
Amount Reclassified from Accumulated Other Comprehensive Income (Loss) | Gains and losses on cash flow hedges
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Interest expense	(449)	(61)
Net sales	128	(523)
Income before income taxes	(321)	(584)
Tax benefit	85	42
Net income	(236)	(542)
Amount Reclassified from Accumulated Other Comprehensive Income (Loss) | Pension and Other Postretirement Benefit Items
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Income before income taxes	(4,088)	(3,449)
Tax benefit	954	810
Net income	(3,134)	(2,639)
Amount Reclassified from Accumulated Other Comprehensive Income (Loss) | Amortization of prior service costs
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Income before income taxes	(92)	(87)
Amount Reclassified from Accumulated Other Comprehensive Income (Loss) | Amortization of actuarial losses
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Income before income taxes	$ (3,996)	$ (3,362)