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Shareholders' Equity Amounts recognized from accumulated other comprehensive income (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stockholders' Equity Note [Abstract] |  |  |
Interest Rate Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net | $ 0 | $ 352 | $ 2,178
Cross Currency Cash Flow Hedge Gain (Loss) Reclassified to Earnings, Net | 10,168 | (7,454) | (5,604)
Derivative Instruments, Gain (Loss) Reclassified from Accumulated OCI into Income, Effective Portion, Net | (10,168) | 7,102 | 3,426
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), before Reclassification, Tax | 1,932 | (1,327) |
Other Comprehensive Income (Loss), Unrealized Gain (Loss) on Derivatives Arising During Period, Tax |  |  | (513)
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification and Tax | (8,236) | 5,775 |
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI on Derivatives, Net of Tax |  |  | (2,913)
Amortization of actuarial (gains) losses and plan amendments and prior service cost | 8,240 | 16,896 | 24,529
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, Tax, Attributable to Parent | 1,758 | 3,618 | 5,203
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, after Tax | $ 6,482 | $ 13,278 | $ 19,326
Derivative Instrument, Gain (Loss) Reclassified from AOCI into Income, Effective Portion, Statement of Income or Comprehensive Income [Extensible Enumeration] | Interest Expense | Interest Expense | Interest Expense

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