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Employee Benefit Plans - Plan Assets Measured and Reported in Financial Statements at Fair Value (Details) - Defined benefit pension plans - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | ---
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 322,175 | $ 457,132 | $ 457,880
Fair Value, Inputs, Level 1, 2 and 3 | U.S. government and U.S. government agency securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 11,699 | 1,584 |
Fair Value, Inputs, Level 1, 2 and 3 | U.S. corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 47,637 | 68,070 |
Fair Value, Inputs, Level 1, 2 and 3 | International corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 17,338 | 23,752 |
Fair Value, Inputs, Level 1, 2 and 3 | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 86,637 | 132,165 |
Fair Value, Inputs, Level 1, 2 and 3 | Money market funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 8,043 | 3,650 |
Fair Value, Inputs, Level 1, 2 and 3 | Other investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 7,563 | 6,979 |
Fair Value, Inputs, Level 1, 2 and 3 | Insurance "buy-in" policy |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 57,310 | 30,731 |
Level 1 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 8,043 | 3,650 |
Level 1 | U.S. government and U.S. government agency securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 1 | U.S. corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 1 | International corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 1 | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 1 | Money market funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 8,043 | 3,650 |
Level 1 | Other investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 1 | Insurance "buy-in" policy |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 2 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 84,237 | 100,385 |
Level 2 | U.S. government and U.S. government agency securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 11,699 | 1,584 |
Level 2 | U.S. corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 47,637 | 68,070 |
Level 2 | International corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 17,338 | 23,752 |
Level 2 | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 2 | Money market funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 2 | Other investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 7,563 | 6,979 |
Level 2 | Insurance "buy-in" policy |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 57,310 | 30,731 |
Level 3 | U.S. government and U.S. government agency securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | U.S. corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | International corporate debt instruments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | Mutual funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | Money market funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | Other investments |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0 | 0 |
Level 3 | Insurance "buy-in" policy |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 57,310 | 30,731 |
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, U.S. equity securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 37,915 | 65,256 |
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, International equity securities |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 2,694 | 12,832 |
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, Global fixed income |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 24,355 | 48,745 |
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, diversified funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets |  | 46,407 |
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, diversified funds, real estate |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 20,984 | $ 16,961 |

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