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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Comprehensive Income [Abstract]                
Foreign currency translation adjustment, tax $ 0   $ 0 $ 0 $ 0 $ 0 $ 0 $ 0
Pension adjustment, tax $ 0 $ 0   $ 0   $ 0 $ 0 $ 0