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Retirement Benefit Plans - Additional Information (Details) $ in Millions | 12 Months Ended |
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Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) employee plan subsidiary | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Feb. 03, 2006 plan
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Number of non-contributory defined benefit pension plans | plan |  |  |  |  | 2
Number of defined contribution plans | plan |  | 2 |  |  |
Estimated |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Estimate of amount of unrecognized actuarial expense | $ 1.0 |  |  |  |
Supplemental Employee Retirement Plan |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
SERP credited service period |  | 10 years |  |  |
Percentage of final 3 year average salary in which retirement benefit is based (percentage) |  | 20.00% |  |  |
Number of final years in which the Retirement Benefit is based |  | 3 years |  |  |
Retirement age |  | 65 years |  |  |
Period of time that vested retirement benefit will be paid after death or change in control |  | 90 days |  |  |
Years of monthly installments associated with SERP disability |  | 15 years |  |  |
Supplemental Employee Retirement Plan | Estimated |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Estimate of amount of unrecognized actuarial expense | $ 0.4 |  |  |  |
Supplemental Employee Retirement Plan | Minimum |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Current retirement benefit percentage |  | 10.00% |  |  |
Supplemental Employee Retirement Plan | Maximum |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Current retirement benefit percentage |  | 20.00% |  |  |
Employees’ Retirement Plan |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Former employees | employee |  | 245 |  |  |
Current employees | employee |  | 51 |  |  |
IAM Plan |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Annual contribution amount |  | $ 0.5 | $ 0.5 | $ 0.4 |
United States |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Annual contribution amount |  | 4.2 | 3.9 | 3.5 |
Foreign Plan |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Annual contribution amount |  | $ 0.9 | $ 0.9 | $ 0.9 |
Number of international subsidiaries that participate in defined contribution and savings plan | subsidiary |  | 3 |  |  |
Foreign Plan | Minimum |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Employer contribution percentage |  | 0.00% |  |  |
Foreign Plan | Maximum |  |  |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |  |  |
Employer contribution percentage |  | 10.00% |  |  |

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