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Defined Benefit Plans - Narrative (Details)
$ in Thousands
 12 Months Ended
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