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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Comprehensive Income [Abstract]      
Actuarial gain, tax $ (7) $ 122 $ 15
Amortization of actuarial (gain) loss, tax 8 21 (4)
Effects of settlements, tax effect $ 0 $ 32 $ 0