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Pension and Postretirement Benefits - Accumulated Benefit Obligation in Excess of Plan Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Domestic Plans | Funded Plans |  |
Accumulated benefit obligation in excess of plan assets |  |
Projected benefit obligation | $ 11,420 | $ 11,454
Accumulated benefit obligation | 11,420 | 11,454
Fair value of plan assets | 9,122 | 9,110
Domestic Plans | Unfunded Pension Plans |  |
Accumulated benefit obligation in excess of plan assets |  |
Projected benefit obligation | 5,834 | 5,966
Accumulated benefit obligation | 5,834 | 5,966
Fair value of plan assets | 0 | 0
Foreign Pension Plans | Funded Plans |  |
Accumulated benefit obligation in excess of plan assets |  |
Projected benefit obligation | 6,487 | 6,085
Accumulated benefit obligation | 6,079 | 5,727
Fair value of plan assets | 6,367 | 6,200
Foreign Pension Plans | Unfunded Pension Plans |  |
Accumulated benefit obligation in excess of plan assets |  |
Projected benefit obligation | 1,801 | 1,957
Accumulated benefit obligation | 1,801 | 1,957
Fair value of plan assets | $ 0 | $ 0

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- Definition Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (e) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Amount of plan asset for defined benefit plan with accumulated benefit obligation in excess of plan assets. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-3 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-3 + Details
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- Definition Amount of projected benefit obligation for defined benefit pension plan with accumulated benefit obligation in excess of plan assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-3 + Details
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