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Pension and Postretirement Benefits - Amounts Recognized in AOCI (Details) - Domestic Plans - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Pension Plans | Funded Plans |  |
Amounts recognized in accumulated other comprehensive income |  |
Net actuarial loss (gain) | $ 6,695 | $ 6,926
Prior service credit | (480) | (518)
Subtotal | 6,215 | 6,408
Total | 6,215 | 6,408
Pension Plans | Unfunded Pension Plans |  |
Amounts recognized in accumulated other comprehensive income |  |
Net actuarial loss (gain) | 400 | 261
Subtotal | 400 | 261
Total | 400 | 261
Postretirement Benefit Plans |  |
Amounts recognized in accumulated other comprehensive income |  |
Net actuarial loss (gain) | (764) | (1,088)
Prior service credit | 500 | 613
Subtotal | (264) | (475)
Total | (264) | (475)
US Postretirement and Pension Plan |  |
Amounts recognized in accumulated other comprehensive income |  |
Net actuarial loss (gain) | 6,331 | 6,099
Prior service credit | 20 | 95
Subtotal | 6,351 | 6,194
Total | $ 6,351 | $ 6,194

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