Employee Benefit Plans - Summary of Components of Net Periodic Benefit Cost and Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income:
Tax related expense (benefit) plans included in other comprehensive income	$ (2,000)	$ 6,000	$ 9,000
Defined benefit pension plans
Net Periodic Benefit Cost (Credit):
Service cost	3,371	4,010	4,925
Interest cost	20,966	12,081	10,094
Expected return on plan assets	(20,372)	(19,242)	(18,531)
Amortization of prior service cost (credit)	150	155	163
Recognized actuarial loss (gain)	5,893	8,996	11,177
Settlement (gain) loss	(59)	19	6,982
Curtailment (gain) loss	0	(326)	48
Net periodic benefit cost (credit)	9,949	5,693	14,858
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income:
Net actuarial loss (gain)	904	(23,501)	(42,671)
Prior service cost	1,169	1,022	204
Amortization of prior service (cost) credit	(150)	(155)	(163)
Total recognized in other comprehensive (income) loss	1,923	(22,634)	(42,630)
Total recognized in net periodic benefit cost (credit) and other comprehensive income	11,872	(16,941)	(27,772)
Postretirement benefit plans
Net Periodic Benefit Cost (Credit):
Service cost	1	2	2
Interest cost	179	89	78
Expected return on plan assets	0	0	0
Amortization of prior service cost (credit)	(2,038)	(2,038)	(2,038)
Recognized actuarial loss (gain)	(226)	(100)	(10)
Settlement (gain) loss	0	0	0
Curtailment (gain) loss	0	0	0
Net periodic benefit cost (credit)	(2,084)	(2,047)	(1,968)
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income:
Net actuarial loss (gain)	311	(922)	(605)
Prior service cost	0	0	0
Amortization of prior service (cost) credit	2,038	2,038	2,038
Total recognized in other comprehensive (income) loss	2,349	1,116	1,433
Total recognized in net periodic benefit cost (credit) and other comprehensive income	$ 265	$ (931)	$ (535)

Employee Benefit Plans - Summary of Components of Net Periodic Benefit Cost and Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Details) - USD ($)
$ in Thousands

12 Months Ended

Dec. 31, 2023

Dec. 31, 2022

Dec. 31, 2021

Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income:

$ (2,000)

$ 6,000

$ 9,000

Defined benefit pension plans

Net Periodic Benefit Cost (Credit):

Service cost

3,371