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Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Equity    
Balance at beginning $ 244,493  
Net earnings 6,650 $ 7,445
Foreign currency translation adjustments (1,092)  
Pension liability adjustments 73 99
Balance at ending 248,108  
Common stock    
Equity    
Balance at beginning 9,497 9,584
Stock options exercised, net of shares withheld for employee taxes and strike price 11 1
Shares purchased and retired   (62)
Balance at ending 9,508 9,523
Capital in excess of par value    
Equity    
Balance at beginning 71,661 70,475
Stock options exercised, net of shares withheld for employee taxes and strike price (12) 15
Share-based compensation expense 367 338
Balance at ending 72,016 70,828
Reinvested earnings    
Equity    
Balance at beginning 180,646 164,039
Net earnings 6,650 7,445
Cash dividends declared (2,377) (2,289)
Shares purchased and retired (5) (1,478)
Balance at ending 184,914 167,717
Accumulated other comprehensive loss    
Equity    
Balance at beginning (17,311) (20,193)
Foreign currency translation adjustments (1,092) (306)
Pension liability adjustments 73 99
Balance at ending $ (18,330) $ (20,400)