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Defined Benefit Pension Plans - Schedule of Accumulated Benefit Obligation in Excess of the Fair Value of Plan Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Retirement Benefits [Abstract] |  |
Projected benefit obligation | $ 75,182 | $ 68,799
Accumulated benefit obligation | 68,022 | 62,503
Fair value of plan assets | $ 7,672 | $ 7,560

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