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Defined Benefit Plans - Narrative (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 USD ($) plan | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Defined Benefit Plan Disclosure [Line Items] |  |  |
Number of plans | plan | 3 |  |
Benefit obligation | $ 6,700 | $ 8,500 |
Fair value of plan assets | $ 4,900 | $ 6,300 |
Discount rate | 4.80% |  |
Annual rate of return on plan assets | 7.00% | 7.00% |
Estimated future benefit payments | $ 500 |  |
Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate |  | 2.40% |
Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate |  | 2.50% |
United Kingdom Subsidiary | UK Plan |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Funded status of UK Plan | $ 16,328 | $ 7,385 |
Annual rate of inflation | 2.80% | 2.90% |
Average life expectancy | 24 years |  |
Reclassification adjustment from AOCI, net of income taxes | $ 1,600 | $ 2,900 | $ 1,900
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes | 1,900 |  |
Future estimated employer contributions to be paid next year | 1,300 |  |
Benefit obligation | 193,956 | 349,147 | 383,142
Fair value of plan assets | $ 210,284 | $ 356,532 | $ 347,411
Discount rate | 5.00% | 1.80% |
Annual rate of return on plan assets | 3.90% | 3.90% | 4.30%
Other Assets | United Kingdom Subsidiary | UK Plan |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Funded status of UK Plan | $ 16,300 | $ 7,400 |

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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(3) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 8 -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e2919-114920 + Details
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