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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