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Retirement Plans - Schedule of Benefit Obligation, Fair Value of Assets, and Funded Status of the Plans (Details) - Pension Plan - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021
United States |  |
Changes in benefit obligation: |  |
Benefit obligation at beginning of year | $ 7,875 | $ 8,448
Interest cost | 194 | 172
Actuarial gain | (1,544) | (319)
Benefits paid | (424) | (426)
Benefit obligation at end of year | 6,101 | 7,875
Change to plan assets: |  |
Fair value of assets at beginning of year | 4,767 | 4,459
Actual (loss) gain on plan assets | (1,007) | 434
Employer contribution | 456 | 300
Benefits paid | (424) | (426)
Fair value of assets at end of year | 3,792 | 4,767
Funded status at end of year | (2,309) | (3,108)
Amounts recognized in the consolidated balance sheets consist of: |  |
Other long-term liabilities | (2,309) | (3,108)
Amounts recognized in accumulated other comprehensive loss consist of: |  |
Net (gain) loss | 1,737 | 2,082
United Kingdom |  |
Changes in benefit obligation: |  |
Benefit obligation at beginning of year | 9,135 | 10,265
Interest cost | 135 | 109
Actuarial gain | (2,221) | (825)
Benefits paid | (1,424) | (302)
Foreign currency exchange rate changes | (954) | (112)
Benefit obligation at end of year | 4,671 | 9,135
Change to plan assets: |  |
Fair value of assets at beginning of year | 8,409 | 7,975
Actual (loss) gain on plan assets | (742) | 522
Employer contribution | 319 | 336
Benefits paid | (1,363) | (338)
Foreign currency exchange rate changes | (878) | (86)
Fair value of assets at end of year | 5,745 | 8,409
Funded status at end of year | 1,074 | (726)
Amounts recognized in the consolidated balance sheets consist of: |  |
Other assets (long-term liabilities) | 1,074 |
Other long-term liabilities |  | (726)
Amounts recognized in accumulated other comprehensive loss consist of: |  |
Net (gain) loss | (1,425) | 837
Prior service cost | 90 | 127
Defined benefit plan, comprehensive (income) loss | $ (1,335) | $ 964

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- Definition Amount, before tax, of accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan, that has not been recognized in net periodic benefit (cost) credit. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (j) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -URI https://asc.fasb.org/extlink&oid=126968391&loc=SL7669686-108580 + Details
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- Definition Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(1) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 + Details
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