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Pension and Post-retirement Plans - Changes in Benefit Obligation and Plan Assets (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Pension obligations |  |  |
Change in plans' benefit obligations |  |  |
Pension plan's benefit obligation at beginning of period | $ 120,414 | $ 126,620 |
Service cost | 1,839 | 4,455 | $ 3,929
Interest cost | 3,086 | 2,740 | 2,772
Actuarial gain | (25,605) | (7,363) |
Benefits paid | (2,306) | (4,211) |
Transfer from other plans | 164 | 706 |
Foreign currency exchange rate changes | (7,149) | (2,533) |
Pension plan's benefit obligation at end of period | 90,443 | 120,414 | 126,620
Change in pension plans assets |  |  |
Fair value of plan assets at beginning of period | 119,325 | 123,950 |
Return on plans assets | (26,218) | (2,228) |
Employer contributions | 3,486 | 3,542 |
Benefits paid | (2,306) | (4,211) |
Transfer payments | 164 | 706 |
Foreign currency exchange rate changes | (6,985) | (2,434) |
Fair value of plan assets at end of period | 87,466 | 119,325 | 123,950
Under-funded balance | (2,977) | (1,089) |
Amounts recognized in consolidated balance sheets | (2,977) | (1,089) |
Cumulative actuarial gain (loss) | 3,872 | 1 |
Post-retirement healthcare obligations |  |  |
Change in plans' benefit obligations |  |  |
Pension plan's benefit obligation at beginning of period | 34,816 | 33,478 |
Service cost | 2,081 | 2,324 | 1,616
Interest cost | 990 | 782 | 870
Actuarial gain | (7,884) | (1,133) |
Benefits paid | (582) | (706) |
Foreign currency exchange rate changes | (743) | 71 |
Pension plan's benefit obligation at end of period | 28,678 | 34,816 | 33,478
Change in pension plans assets |  |  |
Fair value of plan assets at beginning of period | 0 | 0 |
Employer contributions | 572 | 673 |
Participant contributions | 10 | 33 |
Benefits paid | (582) | (706) |
Fair value of plan assets at end of period | 0 | 0 | $ 0
Under-funded balance | (28,678) | (34,816) |
Accrued liabilities | (1,706) | (832) |
Other long-term liabilities | (26,972) | (33,984) |
Amounts recognized in consolidated balance sheets | (28,678) | (34,816) |
Cumulative actuarial gain (loss) | 7,603 | (271) |
Prior service credit | 11,550 | 15,031 |
Total | $ 19,153 | $ 14,760 |

X
- Definition Amount, before tax, of accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan, that has not been recognized in net periodic benefit (cost) credit. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (j) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -URI https://asc.fasb.org/extlink&oid=126968391&loc=SL7669686-108580 + Details
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- Definition Amount, before tax, of accumulated other comprehensive (income) loss for cost (credit) of benefit change attributable to participants' prior service from plan amendment or plan initiation of defined benefit plan, that has not been recognized in net periodic benefit cost (credit). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (j) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -URI https://asc.fasb.org/extlink&oid=126968391&loc=SL7669686-108580 + Details
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- Definition Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(1) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 + Details
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- Definition Amount of gain (loss) from change in actuarial assumptions which (increases) decreases benefit obligation of defined benefit plan. Assumptions include, but are not limited to, interest, mortality, employee turnover, salary, and temporary deviation from substantive plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(4) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 + Details
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- Definition Amount of payment to participant of defined benefit plan which decreases benefit obligation. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(6) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 60 -Section 50 -Paragraph 4 -URI https://asc.fasb.org/extlink&oid=6414203&loc=d3e39716-114964 + Details
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