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Pension and Postretirement Benefits - Components of Net Periodic Benefit Cost of Pension and Postretirement Benefit Plans (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Pension Plans        
Net periodic benefit cost:        
Net periodic benefit cost $ 234 $ 310 $ 468 $ 682
Total expenses 234 310 468 682
Postretirement Benefit Plans        
Net periodic benefit cost:        
Net periodic benefit cost 84 109 168 218
Total expenses 84 109 168 218
Domestic Plans | Pension Plans        
Net periodic benefit cost:        
Service cost 0 0 0 0
Interest cost 211 125 422 250
Expected return on plan assets (40) (51) (80) 49
Amortization of prior service credit (8) 0 (16) 0
Recognized net actuarial loss 71 134 142 268
Net periodic benefit cost 234 310 468 567
Settlement cost 0 0 0 115
Total expenses 234 310 468 567
Domestic Plans | Postretirement Benefit Plans        
Net periodic benefit cost:        
Service cost 6 10 12 20
Interest cost 93 54 186 108
Expected return on plan assets 0 0 0 0
Amortization of prior service credit 29 22 58 44
Recognized net actuarial loss (44) 23 (88) 46
Net periodic benefit cost 84 109 168 218
Settlement cost 0 0 0 0
Total expenses 84 109 168 218
Foreign Pension Plans        
Net periodic benefit cost:        
Service cost 44 76 88 161
Interest cost 91 79 183 167
Expected return on plan assets (86) (98) (172) (223)
Amortization of prior service credit 0 0 0 0
Recognized net actuarial loss 34 36 67 71
Net periodic benefit cost 83 93 166 176
Settlement cost 0 0 0 533
Total expenses 83 93 166 176
Foreign Pension Plans | Pension Plans        
Net periodic benefit cost:        
Net periodic benefit cost 83 93 166 709
Total expenses $ 83 $ 93 $ 166 $ 709