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CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Statement of Comprehensive Income [Abstract] |  |  |
Foreign currency translation, continuing operations, adjustments, tax | $ (6,634) | $ (5,563) | $ 6,442
Prior service cost recognized in net periodic cost, tax | 232 | 232 | (7)
Unamortized (loss) gain arising during the period, tax | 850 | (1,671) | 6,101
Plan amendments, curtailments, and settlements, tax | 0 | 0 | (1,067)
Net loss recognized in net periodic cost, tax | (1,778) | (1,988) | (1,694)
Foreign currency translation, tax | (366) | (238) | 243
Unrealized gain (loss) on derivatives arising during the period, tax | (551) | (27) | 234
Reclassification adjustment on derivatives included in net income, tax | $ 203 | $ 62 | $ (240)

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