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Retirement Plans - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Benefit Plan Disclosure [Line Items]          
Defined contribution plan, cost recognized   $ 25,595,000 $ 23,641,000 $ 25,226,000  
Defined benefit plan, voluntary contribution   $ 9,892,000 10,446,000    
Corridor amount   10.00%      
Net unrecognized actuarial losses expected to be recognized in 2022   $ 10,056,000      
Net unrecognized actuarial losses expected to be recognized in 2022, net of tax   7,476,000      
Net periodic benefit cost (income), non-service cost   (3,472,000) (569,000) $ 3,559,000  
U.S.          
Defined Benefit Plan Disclosure [Line Items]          
Defined benefit plan, voluntary contribution   9,000,000 $ 9,000,000   $ 10,000,000
Increase (decrease) in projected benefit obligation   $ (1,176,000)      
Discount rate used to compute periodic benefit cost 2.18%        
Expected long-term rates of return on plans' assets in next fiscal year 4.80%        
U.K Plan          
Defined Benefit Plan Disclosure [Line Items]          
Discount rate used to compute periodic benefit cost 1.68%        
Expected long-term rates of return on plans' assets in next fiscal year 2.40%