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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Net periodic benefit costs | $ (2,079) | $ (7,964) | $ (6,330)
Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 427 | 512 | 1,245
Interest cost | 9,932 | 5,224 | 4,331
Expected return on plan assets | (8,070) | (7,981) | (8,297)
Settlement gain | 0 | (71) | 35
Curtailment (gain) loss | (198) | 207 |
Actuarial gain amortization | 410 | 981 | 3,248
Prior service credit amortization | 34 | 10 | 10
Net periodic benefit costs | 2,535 | (1,118) | 572
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | 9,003 | (10,563) | (836)
Settlement loss | (23) | (323) | (2,335)
Prior service (cost) credit | (15) | 296 | (7)
Actuarial (loss) gain | (480) | 660 | (7,879)
Curtailment recognition | (28) | (3) | (3)
Effect of exchange rates on amounts included in AOCI | 560 | (1,169) | (1,390)
Total recognized in other comprehensive loss (income) | 9,017 | (11,102) | (12,450)
Total recognized in net periodic benefit cost and other comprehensive loss (income) | 11,552 | (12,220) | (11,878)
Foreign | Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 399 | 465 | 698
Interest cost | 6,083 | 3,079 | 2,594
Expected return on plan assets | (5,271) | (4,472) | (4,686)
Settlement gain | 0 | (71) | 35
Curtailment (gain) loss | (213) | 207 |
Actuarial gain amortization | 388 | 658 | 996
Prior service credit amortization | 28 | 3 | 3
Net periodic benefit costs | 1,414 | (131) | (360)
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | 8,605 | (7,008) | (388)
Settlement loss | 0 | 0 | (83)
Prior service (cost) credit | 0 | 303 | 0
Actuarial (loss) gain | (388) | (587) | (954)
Curtailment recognition | (28) | (3) | (3)
Effect of exchange rates on amounts included in AOCI | 560 | (1,169) | (1,390)
Total recognized in other comprehensive loss (income) | 8,749 | (8,464) | (2,818)
Total recognized in net periodic benefit cost and other comprehensive loss (income) | 10,163 | (8,595) | (3,178)
U.S. | Pension Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 28 | 47 | 547
Interest cost | 3,849 | 2,145 | 1,737
Expected return on plan assets | (2,799) | (3,509) | (3,611)
Settlement gain | 0 | 0 | 0
Curtailment (gain) loss | 15 | 0 |
Actuarial gain amortization | 22 | 323 | 2,252
Prior service credit amortization | 6 | 7 | 7
Net periodic benefit costs | 1,121 | (987) | 932
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | 398 | (3,555) | (448)
Settlement loss | (23) | (323) | (2,252)
Prior service (cost) credit | (15) | (7) | (7)
Actuarial (loss) gain | (92) | 1,247 | (6,925)
Curtailment recognition | 0 | 0 | 0
Effect of exchange rates on amounts included in AOCI | 0 | 0 | 0
Total recognized in other comprehensive loss (income) | 268 | (2,638) | (9,632)
Total recognized in net periodic benefit cost and other comprehensive loss (income) | 1,389 | (3,625) | (8,700)
U.S. | Other Postretirement Benefits |  |  |
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] |  |  |
Service cost | 0 | 0 | 1
Interest cost | 69 | 37 | 27
Actuarial gain amortization | 128 | 79 | 82
Prior service credit amortization | 16 | 32 | 31
Net periodic benefit costs | (75) | (74) | (85)
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net (gain) loss arising during period | (150) | (263) | (992)
Prior service (cost) credit | 0 | (2) | (78)
Prior service credit | (16) | (32) | (31)
Actuarial (loss) gain | 127 | 79 | 82
Total recognized in other comprehensive loss (income) | (7) | (154) | (957)
Total recognized in net periodic benefit cost and other comprehensive loss (income) | $ (82) | $ (228) | $ (1,042)

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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 -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 45 -Paragraph 3A -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480535/715-20-45-3A Reference 3: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 18 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-18 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (h)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 6 -Subparagraph (a)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-6 + Details
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