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Retirement Plans - Accumulated Benefit Obligations in Excess of Plan Asset (Details) - Pension Plan - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
United States
Defined Benefit Plan Disclosure
Projected benefit obligation	$ 8,448	$ 7,809	$ 16,717
Accumulated benefit obligation	8,448	7,809
Fair value of plan assets	4,459	4,360	12,468
United Kingdom
Defined Benefit Plan Disclosure
Projected benefit obligation	10,265	9,101	7,750
Accumulated benefit obligation	10,265	9,101
Fair value of plan assets	$ 7,975	$ 7,290	$ 6,347

Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee.

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