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Retirement and Pension Plans - Components of Net Periodic Pension Benefit Expense (Income) (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Defined benefit plans:        
Service cost $ 737 $ 751 $ 2,194 $ 2,240
Interest cost 7,043 7,588 21,010 22,655
Expected return on plan assets (13,702) (13,100) (40,953) (39,167)
Amortization of net actuarial loss and other 2,358 2,851 7,028 8,514
Pension income (3,564) (1,910) (10,721) (5,758)
Other plans:        
Defined contribution plans 9,759 9,908 35,339 33,936
Foreign plans and other 2,275 2,011 6,251 6,581
Total other plans 12,034 11,919 41,590 40,517
Total net pension expense $ 8,470 $ 10,009 $ 30,869 $ 34,759