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Fair Value Measurements - Recurring Basis (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Fair value of assets and liabilities measured on recurring basis      
Proceeds from the sales and maturities of available-for-sale securities $ 0 $ 175,000,000 $ 159,000,000
Fair value, recurring basis      
Fair value of assets and liabilities measured on recurring basis      
Deferred compensation trusts 7,719,000 26,690,000  
Fair value, recurring basis | Foreign currency      
Fair value of assets and liabilities measured on recurring basis      
Derivative assets 7,167,000 17,346,000  
Derivative liabilities 6,561,000 18,342,000  
Fair value, recurring basis | Commodity      
Fair value of assets and liabilities measured on recurring basis      
Derivative assets 46,000    
Derivative liabilities 1,247,000    
Fair value, recurring basis | Level 1      
Fair value of assets and liabilities measured on recurring basis      
Deferred compensation trusts 7,719,000 26,690,000  
Fair value, recurring basis | Level 2 | Foreign currency      
Fair value of assets and liabilities measured on recurring basis      
Derivative assets 7,167,000 17,346,000  
Derivative liabilities 6,561,000 $ 18,342,000  
Fair value, recurring basis | Level 2 | Commodity      
Fair value of assets and liabilities measured on recurring basis      
Derivative assets 46,000    
Derivative liabilities $ 1,247,000