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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, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Pension Plans        
Net periodic benefit cost:        
Net periodic benefit cost (income) $ 213 $ 234 $ 426 $ 468
Total expenses (income) 213 234 426 468
Postretirement Benefit Plans        
Net periodic benefit cost:        
Net periodic benefit cost (income) 78 84 156 168
Total expenses (income) 78 84 156 168
Domestic Plans | Pension Plans        
Net periodic benefit cost:        
Service cost 0 0 0 0
Interest cost 201 211 402 422
Expected return on plan assets (57) (40) (114) (80)
Amortization of prior service credit (10) (8) (20) (16)
Recognized net actuarial loss (gain) 79 71 158 142
Net periodic benefit cost (income) 213 234 426 468
Settlement cost 0 0 0 0
Total expenses (income) 213 234 426 468
Domestic Plans | Postretirement Benefit Plans        
Net periodic benefit cost:        
Service cost 6 6 12 12
Interest cost 91 93 182 186
Expected return on plan assets 0 0 0 0
Amortization of prior service credit 19 29 38 58
Recognized net actuarial loss (gain) (38) (44) (76) (88)
Net periodic benefit cost (income) 78 84 156 168
Settlement cost 0 0 0 0
Total expenses (income) 78 84 156 168
Foreign Pension Plans        
Net periodic benefit cost:        
Service cost 50 44 101 88
Interest cost 85 91 170 183
Expected return on plan assets (83) (86) (167) (172)
Amortization of prior service credit 0 0 0 0
Recognized net actuarial loss (gain) 31 34 63 67
Net periodic benefit cost (income) 83 83 167 166
Settlement cost 0 0 0 0
Total expenses (income) 83 83 167 166
Foreign Pension Plans | Pension Plans        
Net periodic benefit cost:        
Net periodic benefit cost (income) 83 83 167 166
Total expenses (income) $ 83 $ 83 $ 167 $ 166