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Defined Benefit Plans - Narrative (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) plan | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Defined Benefit Plan Disclosure [Line Items] |  |  |
Number of plans | plan | 3 |  |
Benefit obligation | $ 6,300 | $ 6,700 |
Fair value of plan assets | $ 5,100 | $ 4,900 |
Discount rate |  | 4.80% |
Annual rate of return on plan assets | 7.00% | 7.00% |
Minimum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate | 4.75% |  |
Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rate | 5.20% |  |
United Kingdom Subsidiary | UK Plan |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Funded status of UK Plan | $ 18,980 | $ 16,328 |
Annual rate of inflation | 2.80% | 2.80% |
Average life expectancy | 23 years |  |
Reclassification adjustment from AOCI, net of income taxes | $ 2,000 | $ 1,600 | $ 2,900
Estimated unrecognized loss that will be amortized from AOCI, net of income taxes | 2,000 |  |
Future estimated employer contributions to be paid next year | 600 |  |
Benefit obligation | 204,097 | 193,956 | 349,147
Fair value of plan assets | $ 223,077 | $ 210,284 | $ 356,532
Discount rate | 4.80% | 5.00% |
Annual rate of return on plan assets | 5.70% | 3.90% | 3.90%
Other assets | United Kingdom Subsidiary | UK Plan |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Funded status of UK Plan | $ 19,000 | $ 16,300 |

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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 -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + 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 -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-8 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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