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Condensed Consolidated Statements of Comprehensive Income Unaudited (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Statement of Comprehensive Income [Abstract]        
OCI, Tax on foreign currency translation gain (loss) $ 0 $ 0 $ 0 $ 0
OCI, Tax on amortization of actuarial losses on retirement plans included in net periodic pension cost $ 680 $ 623 $ 2,020 $ 1,895