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Benefit Plans - Additional Information (Details)
 12 Months Ended
Jul. 01, 2021
USD ($)
Dec. 31, 2023
USD ($)
Plan
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items]        
Employer discretionary contribution amount   $ 8,500,000 $ 7,200,000 $ 7,300,000
Number of non-contributory defined benefit pension plans | Plan   2    
Period of average compensation for pension benefit computation   5 years    
Age limit for a lump sum payment   55 years    
Long-term portion of the pension liability   $ 27,000,000 25,400,000  
AOCI net prior service cost   100,000    
Future amortization of prior service cost   $ 0    
Retirement age   65 years    
Rabbi trust balance   $ 41,700,000    
Expense related to contributions   700,000 700,000 $ 100,000
Total deferred compensation liability   38,600,000 32,300,000  
Deferred compensation liability, current   2,800,000 $ 1,800,000  
George C. Zoley | Amended and Restated Executive Retirement Agreement        
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items]        
Deferred compensation, interest rate on cash payment 5.00%      
Deferred compensation arrangement with individual, employer contribution $ 1,000,000      
Deferred compensation, interest rate on employer contribution 5.00%      
Deferred compensation arrangement with individual, cash payment $ 3,600,000      
Deferred compensation arrangement with individual reclassification from equity to other non-current liabilities $ 3,600,000      
Deferred compensation arrangement with individual balance   $ 9,600,000