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