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Pension and Postretirement Benefits - Fair Value of the Plans' Assets by Asset Class (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Domestic Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | $ 9,122 | $ 9,110
Domestic Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 5,205 | 5,452
Domestic Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 3,094 | 3,473
Domestic Plans | Cash |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 823 | 185
Foreign Pension Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 6,367 | 6,200
Foreign Pension Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 5,051 | 3,965
Foreign Pension Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 1,268 | 2,036
Foreign Pension Plans | Other |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 48 | 199
Quoted Prices in Active Markets (Level 1) | Domestic Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 9,122 | 9,110
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 5,205 | 5,452
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 3,094 | 3,473
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Cash |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 823 | 185
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 6,367 | 6,200
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 5,051 | 3,965
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 1,268 | 2,036
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Other |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 48 | 199
Significant Other Observable Inputs (Level 2) | Domestic Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Cash |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Other |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Domestic Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Cash |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Fixed Income Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Equity Securities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | 0 | 0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Other |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value measurement domestic pension plans | $ 0 | $ 0

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