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Retirement Plans - Net Pension Expense Domestic and Foreign (Details) - Pension Plans - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Net pension expense (income)        
Total expense, net $ 54 $ 66 $ 106 $ 133
UNITED STATES        
Net pension expense (income)        
Service cost 0 0 0 0
Interest cost 9 10 18 19
Expected return on plan assets 0 0 0 0
Amortization of loss 6 5 12 11
Total expense, net 15 15 30 30
Foreign Plan        
Net pension expense (income)        
Service cost 4 5 7 11
Interest cost 6 9 12 19
Expected return on plan assets (5) (6) (10) (13)
Amortization of loss 34 43 67 86
Total expense, net $ 39 $ 51 $ 76 $ 103