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Employee Benefit Plans - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items] |  |  |
Defined contribution plan expense | $ 61,032 | $ 57,543 | $ 59,719
Accumulated benefit obligations | 591,114 | 560,057 |
United States | Qualified Defined Benefits |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Estimated future employer contributions in next fiscal year | 0 |  |
United States | Qualified Defined Benefits | Qualified Defined Benefits |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total assets (liabilities) | 73,213 | 74,152 |
Accumulated benefit obligations | 319,306 | 318,275 |
United States | Non-Qualified Supplemental Benefits |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Estimated future employer contributions in next fiscal year | 5,600 |  |
Foreign Plan |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Estimated future employer contributions in next fiscal year | 8,200 |  |
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total assets (liabilities) | (74,264) | (62,457) |
Accumulated benefit obligations | $ 242,619 | $ 210,259 |

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- Definition Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (e) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Amount of asset (liability), recognized in statement of financial position, for defined benefit pension and other postretirement plans. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 45 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480535/715-20-45-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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