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Income Taxes - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Valuation allowance for deferred tax assets $ 42,967,000 $ 43,379,000 $ 45,500,000
Net change in the total valuation allowance (400,000) (2,100,000)  
Investments in foreign subsidiaries 52,408,000 1,587,000  
Unrecognized tax benefit, potentially expire in 2021 65,000,000    
Total unrecognized tax benefits net of potential benefits 160,000,000 217,600,000 202,100,000
Interest and penalties recognized as an expense 4,200,000 7,100,000 $ 1,900,000
Total accrued interest and penalties 27,100,000 22,600,000  
Provision for income taxes      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Net change in the total valuation allowance (1,100,000) (800,000)  
Other Comprehensive Income      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Net change in the total valuation allowance 700,000 $ (1,300,000)  
Foreign Country      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Other non-U.S subsidiaries operating loss carryforwards for income tax 42,900,000    
Foreign Country | Tax year 2024 to 2030      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Additional operating loss carryforward 12,900,000    
Ireland | Foreign Country      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Ireland subsidiaries additional tax credit carryforward for income tax 16,900,000    
United States      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
U.S. Federal net operating loss carry forwards currently available for offset 1,200,000    
Alternative minimum tax credit carry forwards 800,000    
United States | Federal NOL's      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Net operating loss carryforwards 1,744,000    
Tax credit carry forward 204,000,000    
Other non-U.S subsidiaries operating loss carryforwards for income tax 0    
United States | State NOL's      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Net operating loss carryforwards 331,370,000    
Other non-U.S subsidiaries operating loss carryforwards for income tax 9,251,000    
Other | Foreign Country      
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]      
Ireland subsidiaries additional tax credit carryforward for income tax $ 4,300,000