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Financial Instruments and Fair Value - Schedule of Fair Value, Separate Account Investment (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | $ 12,400 | $ 12,600 |
Pension benefit obligation | (14,416) | (13,951) | $ (19,594)
Total | 45,265 | 32,987 |
Other Current Assets |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Total | 1,289 | 1,252 |
Assets Designated for Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Total | 11,105 | 11,332 |
Investments |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Total | 47,287 | 34,354 |
Other Current Liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Total | (1,289) | (1,252) |
Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Total | (13,127) | (12,699) |
Fair Value, Inputs, Level 1 |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 47,287 | 34,354 |
Fair Value, Inputs, Level 1 | Other Current Assets |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 0 | 0 |
Fair Value, Inputs, Level 1 | Assets Designated for Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 0 | 0 |
Fair Value, Inputs, Level 1 | Investments |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 47,287 | 34,354 |
Fair Value, Inputs, Level 1 | Other Current Liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 0 | 0 |
Fair Value, Inputs, Level 1 | Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
U.S. non-qualified deferred compensation plan | 0 | 0 |
Significant Other Observable Inputs (Level 2) |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 12,394 | 12,584 |
Pension benefit obligation | (14,416) | (13,951) |
Total | (2,022) | (1,367) |
Significant Other Observable Inputs (Level 2) | Other Current Assets |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 1,289 | 1,252 |
Pension benefit obligation | 0 | 0 |
Total | 1,289 | 1,252 |
Significant Other Observable Inputs (Level 2) | Assets Designated for Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 11,105 | 11,332 |
Pension benefit obligation | 0 | 0 |
Total | 11,105 | 11,332 |
Significant Other Observable Inputs (Level 2) | Investments |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 0 | 0 |
Pension benefit obligation | 0 | 0 |
Total | 0 | 0 |
Significant Other Observable Inputs (Level 2) | Other Current Liabilities |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 0 | 0 |
Pension benefit obligation | (1,289) | (1,252) |
Total | (1,289) | (1,252) |
Significant Other Observable Inputs (Level 2) | Retirement and Pension Plans |  |  |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] |  |  |
Retirement and pension plan assets | 0 | 0 |
Pension benefit obligation | (13,127) | (12,699) |
Total | $ (13,127) | $ (12,699) |

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