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Pension Plans - Components of Net Periodic Pension Cost (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Retirement Benefits [Abstract]    
Service cost $ 3,484 $ 3,828
Interest cost 1,459 1,603
Expected return on plan assets (1,418) (1,311)
Recognized actuarial gain (97) (98)
Net periodic pension cost $ 3,428 $ 4,022