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Pension and Other Postretirement Benefits - Net Periodic Benefit Cost and Changes in Other Comprehensive Income (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Net periodic benefit costs | $ (7,964) | $ (6,330) | $ 16,535
Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 512 | 1,245 | 4,831
Interest cost | 5,224 | 4,331 | 6,339
Expected return on plan assets | (7,981) | (8,297) | (9,072)
Settlement loss (gain) | (71) | 35 | 22,579
Curtailment charge | 207 | 0 | (1,155)
Actuarial loss amortization | 981 | 3,248 | 2,996
Prior service cost (credit) amortization | 10 | 10 | (167)
Net periodic benefit costs | (1,118) | 572 | 26,351
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | (10,563) | (836) | (58)
Settlement loss | (323) | (2,335) | (22,706)
Prior service (cost) credit | 296 | (7) | 1,375
Actuarial gain amortization | 660 | (7,879) | 3,209
Curtailment Recognition | (3) | (3) | (3)
Effect of exchange rates on amounts included in AOCI | (1,169) | (1,390) | 1,535
Total recognized in other comprehensive (income) loss | (11,102) | (12,450) | (16,648)
Total recognized in net periodic benefit cost and other comprehensive (income) loss | (12,220) | (11,878) | 9,703
Foreign | Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 465 | 698 | 4,340
Interest cost | 3,079 | 2,594 | 3,416
Expected return on plan assets | (4,472) | (4,686) | (4,262)
Settlement loss (gain) | (71) | 35 | (88)
Curtailment charge | 207 | 0 | (1,155)
Actuarial loss amortization | 658 | 996 | 886
Prior service cost (credit) amortization | 3 | 3 | (167)
Net periodic benefit costs | (131) | (360) | 2,970
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | (7,008) | (388) | (1,594)
Settlement loss | 0 | (83) | (39)
Prior service (cost) credit | 303 | 0 | 1,325
Actuarial gain amortization | (587) | (954) | (758)
Curtailment Recognition | (3) | (3) | (3)
Effect of exchange rates on amounts included in AOCI | (1,169) | (1,390) | 1,535
Total recognized in other comprehensive (income) loss | (8,464) | (2,818) | 466
Total recognized in net periodic benefit cost and other comprehensive (income) loss | (8,595) | (3,178) | 3,436
U.S. | Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 47 | 547 | 491
Interest cost | 2,145 | 1,737 | 2,923
Expected return on plan assets | (3,509) | (3,611) | (4,810)
Settlement loss (gain) | 0 | 0 | 22,667
Curtailment charge | 0 | 0 | 0
Actuarial loss amortization | 323 | 2,252 | 2,110
Prior service cost (credit) amortization | 7 | 7 | 0
Net periodic benefit costs | (987) | 932 | 23,381
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | (3,555) | (448) | 1,536
Settlement loss | (323) | (2,252) | (22,667)
Prior service (cost) credit | (7) | (7) | 50
Actuarial gain amortization | 1,247 | (6,925) | 3,967
Curtailment Recognition | 0 | 0 | 0
Effect of exchange rates on amounts included in AOCI | 0 | 0 | 0
Total recognized in other comprehensive (income) loss | (2,638) | (9,632) | (17,114)
Total recognized in net periodic benefit cost and other comprehensive (income) loss | (3,625) | (8,700) | 6,267
U.S. | Other Postretirement Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 0 | 1 | 5
Interest cost | 37 | 27 | 77
Actuarial loss amortization | 79 | 82 | 5
Prior service cost (credit) amortization | 32 | 31 | 0
Net periodic benefit costs | (74) | (85) | 77
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | 263 | 992 | 864
Prior service (cost) credit | (2) | (78) | 0
Prior service credit | 32 | 31 | 0
Actuarial gain amortization | 79 | 82 | 5
Total recognized in other comprehensive (income) loss | (154) | (957) | (859)
Total recognized in net periodic benefit cost and other comprehensive (income) loss | $ (228) | $ (1,042) | $ (782)

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- Definition Amount of expected return (loss) recognized in net periodic benefit (cost) credit, calculated based on expected long-term rate of return and market-related value of plan assets of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 18 -URI http://asc.fasb.org/extlink&oid=123450688&loc=d3e4587-114921 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h)(3) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 45 -Paragraph 3A -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123453770&loc=SL108413299-114919 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 6 -Subparagraph (a)(3) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e2709-114920 + Details
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