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CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Statement of Comprehensive Income [Abstract] |  |  |
Changes in net prior service credit and net actuarial losses, net of tax benefit (provision) of $8,908, $(18,850) and $11,007, respectively | $ 8,908 | $ (18,850) | $ 11,007
Change in fair value of derivatives, net of tax (provision) benefit of $(483), $(725) and $461, respectively | (483) | (725) | 461
Foreign currency translation, net of tax (provision) benefit of $(7,590), $(9,695) and $15,692, respectively | $ (7,590) | $ (9,695) | $ 15,692

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