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Retirement Benefit Plans - Changes in Benefit Obligations and Plan Assets (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Change in fair value of plan assets and net accrued liabilities:      
Fair value of plan assets at beginning of year $ 0    
Fair value of plan assets at end of year   $ 0  
Postretirement Medical Benefits      
Change in benefit obligation:      
Benefit obligation at beginning of year 4,600,000 5,400,000 $ 7,000,000.0
Plan combinations 0 0  
Service cost 0 0 100,000
Interest cost 300,000 200,000 100,000
Actuarial (gain) loss (700,000) (1,100,000)  
Foreign exchange 0 0  
Settlement 0 0  
Benefits paid (400,000) (700,000)  
Benefit obligation at end of year 4,600,000 5,400,000 7,000,000.0
Change in fair value of plan assets and net accrued liabilities:      
Fair value of plan assets at beginning of year 0 0  
Actual return on plan assets 0 0  
Employer contributions 400,000 700,000  
Foreign exchange 0 0  
Settlement 0 0  
Benefits paid (400,000) (700,000)  
Fair value of plan assets at end of year 0 0 0
Funded status at end of year (4,600,000) (5,400,000)  
Noncurrent other assets 0 0  
Current liabilities (600,000) (700,000)  
Long-term liabilities (4,000,000.0) (4,700,000)  
Net accrued liability (4,600,000) (5,400,000)  
Prior service cost 0 0  
Net actuarial (loss) gain 1,800,000 1,300,000  
Accumulated other comprehensive (loss) income 1,800,000 1,300,000  
UNITED STATES      
Change in benefit obligation:      
Benefit obligation at beginning of year 900,000 900,000 1,100,000
Plan combinations 0 0  
Service cost 0 0  
Interest cost 0 0  
Actuarial (gain) loss 100,000 (100,000)  
Foreign exchange 0 0  
Settlement 0 0  
Benefits paid (100,000) (100,000)  
Benefit obligation at end of year 900,000 900,000 1,100,000
Change in fair value of plan assets and net accrued liabilities:      
Fair value of plan assets at beginning of year 0 0  
Actual return on plan assets 0 0  
Employer contributions 100,000 100,000  
Foreign exchange 0 0  
Settlement 0 0  
Benefits paid (100,000) (100,000)  
Fair value of plan assets at end of year 0 0 0
Funded status at end of year (900,000) (900,000)  
Noncurrent other assets 0 0  
Current liabilities (100,000) (100,000)  
Long-term liabilities (800,000) (800,000)  
Net accrued liability (900,000) (900,000)  
Prior service cost 0 0  
Net actuarial (loss) gain (700,000) (700,000)  
Accumulated other comprehensive (loss) income (700,000) (700,000)  
UNITED STATES | Pension Plan      
Change in benefit obligation:      
Service cost 0 0 0
Interest cost 0 0 100,000
Non-U.S. Plan | Pension Plan      
Change in benefit obligation:      
Benefit obligation at beginning of year 10,400,000 10,300,000 16,200,000
Plan combinations 0 1,000,000.0  
Service cost 100,000 300,000 0
Interest cost 500,000 200,000 200,000
Actuarial (gain) loss (300,000) (5,100,000)  
Foreign exchange 500,000 (1,600,000)  
Settlement 0 0  
Benefits paid (700,000) (700,000)  
Benefit obligation at end of year 10,400,000 10,300,000 16,200,000
Change in fair value of plan assets and net accrued liabilities:      
Fair value of plan assets at beginning of year 11,300,000 12,900,000  
Actual return on plan assets 1,100,000 100,000  
Employer contributions 300,000 400,000  
Foreign exchange 600,000 (1,400,000)  
Settlement 0 0  
Benefits paid (600,000) (700,000)  
Fair value of plan assets at end of year 12,700,000 11,300,000 $ 12,900,000
Funded status at end of year 2,300,000 1,000,000.0  
Noncurrent other assets 6,500,000 4,800,000  
Current liabilities (300,000) (200,000)  
Long-term liabilities (3,900,000) (3,600,000)  
Net accrued liability 2,300,000 1,000,000.0  
Prior service cost (100,000) (100,000)  
Net actuarial (loss) gain 3,600,000 2,800,000  
Accumulated other comprehensive (loss) income $ 3,500,000 $ 2,700,000