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Retirement plans - Benefit Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Retirement Benefits [Abstract] |  |  |  |
Interest cost on benefit obligation | $ 6,116 | $ 4,241 | $ 12,266 | $ 8,541
Expected return on plan assets | (5,245) | (4,851) | (10,470) | (9,751)
Amortization of prior service credit | (107) | (117) | (232) | (242)
Amortization of actuarial loss | 1,434 | 1,202 | 3,009 | 2,302
Expense from company-sponsored retirement plans | $ 2,198 | $ 475 | $ 4,573 | $ 850

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