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