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Pension and Other Postretirement Benefits - Changes in Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Pension Plans      
Changes in accumulated other comprehensive loss:      
Net actuarial loss (gain), beginning of year $ 39,995    
Amortization of actuarial gain (loss) (734)    
Actuarial gain (123,851)    
Asset loss 100,618    
Settlement loss recognized (1,189)   $ (3,200)
Currency impact (3,144)    
Net actuarial loss (gain), end of year 11,695 $ 39,995  
Prior service cost, beginning of year 2,661    
Amortization of prior service cost (174) (110) (190)
Currency impact (290)    
Prior service cost, end of year 2,197 2,661  
Other Plans      
Changes in accumulated other comprehensive loss:      
Net actuarial loss (gain), beginning of year (1,770)    
Amortization of actuarial gain (loss) 73    
Actuarial gain (5,690)    
Asset loss 0    
Settlement loss recognized 0    
Currency impact 270    
Net actuarial loss (gain), end of year (7,117) (1,770)  
Prior service cost, beginning of year 0    
Amortization of prior service cost 0 0 $ 0
Currency impact 0    
Prior service cost, end of year $ 0 $ 0