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CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Statement of Comprehensive Income [Abstract] |  |  |
Foreign currency translation, continuing operations, adjustments, tax | $ 7,182 | $ (6,634) | $ (5,563)
Prior service cost recognized in net periodic cost, tax | 233 | 232 | 232
Unamortized (loss) gain arising during the period, tax | (2,284) | 850 | (1,671)
Plan amendments, curtailments, and settlements, tax | (10,352) | 0 | 0
Net loss recognized in net periodic cost, tax | (1,844) | (1,778) | (1,988)
Foreign currency translation, tax | 145 | (366) | (238)
Unrealized gain (loss) on derivatives arising during the period, tax | 123 | (551) | (27)
Reclassification adjustment on derivatives included in net income, tax | $ 385 | $ 203 | $ 62

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