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Retirement Plans - Schedule of Net Benefit Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
United States |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Interest cost | $ 71 | $ 49 | $ 143 | $ 97
Expected return on plan assets | (64) | (66) | (128) | (132)
Recognized net actuarial loss | 16 | 18 | 31 | 35
Net periodic pension (income) cost | 23 | 1 | 46 | 0
United Kingdom |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Interest cost | 56 | 43 | 112 | 86
Expected return on plan assets | (84) | (76) | (168) | (152)
Amortization of prior service costs and transition amount | 6 | 6 | 12 | 12
Recognized net actuarial loss | 3 | 40 | 6 | 80
Net periodic pension (income) cost | $ (19) | $ 13 | $ (38) | $ 26

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- Definition Amount of prior service cost (credit) recognized in net periodic benefit cost (credit) of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 45 -Paragraph 3A -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480535/715-20-45-3A Reference 3: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 18 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-18 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (h)(5) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 6 -Subparagraph (a)(5) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-6 + Details
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