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Consolidated Statements of Equity (Parenthetical) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]      
Reclassification of prior service benefit and actuarial loss amortization to earnings, tax benefit $ 100,000 $ 100,000 $ 0
Retirement (expense) benefit plans funded status adjustment, tax $ 900,000 $ 300,000 $ (400,000)