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Employee Benefit Plans - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items] |  |  |
Equity funds that are invested in funds managed by the company | $ 63,927 | $ 54,810 |
Contributions to employer sponsored defined contribution plans | $ 22,190 | $ 19,692 | $ 17,864
Pension Plans | U.S. | Level 1 and NAV | Equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 50.00% | 57.00% |
Pension Plans | U.S. | Level 1 | Debt funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 47.00% | 42.00% |
Pension Plans | U.S. | Level 1 | Cash |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 3.00% | 1.00% |
Pension Plans | Non-U.S. | Level 1 and Level 2 | Equities and equity funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 26.00% | 25.00% |
Pension Plans | Non-U.S. | Level 1, Level 2 and NAV | Debt and debt funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 70.00% | 66.00% |
Pension Plans | Non-U.S. | Level 1 and Level 2 or NAV | Cash, other investments and alternative investment funds |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of plan assets invested | 4.00% | 9.00% |

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