Income Taxes (Details 4) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
U.S.	$ 34,462	$ 87,315	$ 38,969
Interest and penalties recognized	400	200	$ 300
Asset
Depreciation and amortization	0	0
Operating lease liabilities	25,431	22,868
Expense accruals	24,949	22,136
Inventories	3,400	2,721
Provision for receivables	5,504	4,903
Operating loss carryforwards	65,935	66,703
Tax credit carryforwards	18,608	15,630
Pensions	23,298	49,740
Currency adjustments	5,075	4,829
Deferred financing costs	359
Section 163(j) disallowed interest expense	4,843
Post-retirement benefits	335	340
Stock based compensation	7,396	6,696
Other	1,470	1,954
Subtotal	186,603	198,520
Valuation allowance	(92,385)	(108,563)
Total deferred income taxes	94,218	89,957
Liability
Depreciation and amortization	80,278	87,681
Right-of-use assets	25,759	23,406
Deferred revenue	4,124	4,425
Deferred financing costs		269
Deferred Tax Liabilities, Other	0	0
Total deferred income taxes	110,161	115,781
Deferred Tax Assets, Net, Classification [Abstract]
Deferred income tax assets	17,883	10,368
Deferred tax liabilities	33,826	$ 36,192
Valuation Allowance, Deferred Tax Asset, Decrease From Pension Adjustment	19,300
Valuation Allowance, Deferred Tax Asset, Decrease From Asset Valuation	6,800
Valuation Allowance, Deferred Tax Asset, Increase From Tax Rate Adjustment	14,400
Valuation Allowance, Deferred Tax Asset, Reduction Related to Disallowed Interest Expense	4,800
Foreign Currency Translation Adjustment, Valuation Allowance Reduction, Reduction to Deferred Tax Assets	3,500
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards not subject to expiration	7,200
Asset
Operating loss carryforwards	9,000
Domestic Tax Authority [Member] | Tax Years 2021 Through 2040 [Member]
Asset
Operating loss carryforwards	1,800
International operations
Operating Loss Carryforwards [Line Items]
Operating losses subject to expiration	8,900
Operating loss carryforwards not subject to expiration	32,000
Asset
Operating loss carryforwards	40,900
U.S. state
Asset
Operating loss carryforwards	16,000
U.S. state | Tax Years 2021 Through 2025 [Member]
Asset
Operating loss carryforwards	3,600
U.S. state | Tax Years 2026 Through 2030 [Member]
Asset
Operating loss carryforwards	3,200
U.S. state | Tax Years 2031 Through 2035 [Member]
Asset
Operating loss carryforwards	4,700
U.S. state | Tax Years 2036 Through 2040 [Member]
Asset
Operating loss carryforwards	$ 4,500