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Pension Plans - Schedule of components of net periodic pension cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Retirement Benefits [Abstract]        
Service cost $ 3,356 $ 3,697 $ 6,840 $ 7,525
Interest cost 1,412 1,558 2,871 3,161
Expected return on plan assets (1,369) (1,278) (2,787) (2,589)
Recognized actuarial gain (96) (105) (193) (203)
Net periodic pension cost $ 3,303 $ 3,872 $ 6,731 $ 7,894