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Defined Benefit Pension Plans - Schedule of Amounts Recognized in Other Comprehensive Income (loss), pre-tax (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Retirement Benefits [Abstract]      
Net actuarial (gain) loss $ 8,734 $ 8,762 $ (3,191)
Settlement (gain) loss (286) (250) (1)
Curtailment (gain) loss 0 0 (1)
Plan asset (gain) loss 64 (526) 724
Amortization of net actuarial loss (2,255) (1,648) (1,533)
Amortization of prior service cost (68) (68) (61)
Other 0 (160) 124
Other comprehensive (income) loss $ 6,189 $ 6,110 $ (3,939)