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Retirement Plans - Plan Asset Investment Allocation Percentage (Details) - Pension Plan | Dec. 31, 2023 | Dec. 31, 2022
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United States |  |
Asset Category |  |
Percentage of Plan assets | 100.00% | 100.00%
United States | Cash and cash equivalents |  |
Asset Category |  |
Percentage of Plan assets | 4.00% | 6.00%
United States | Cash and cash equivalents | Minimum |  |
Asset Category |  |
Target percentage of plan assets | 0.00% |
United States | Cash and cash equivalents | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 20.00% |
United States | Total fixed income funds |  |
Asset Category |  |
Percentage of Plan assets | 33.00% | 7.00%
United States | Total fixed income funds | Minimum |  |
Asset Category |  |
Target percentage of plan assets | 25.00% |
United States | Total fixed income funds | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 50.00% |
United States | Total mutual funds and equities |  |
Asset Category |  |
Percentage of Plan assets | 63.00% | 87.00%
United States | Total mutual funds and equities | Minimum |  |
Asset Category |  |
Target percentage of plan assets | 35.00% |
United States | Total mutual funds and equities | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 70.00% |
United Kingdom | Cash and cash equivalents | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 100.00% |
United Kingdom | Equity securities | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 100.00% |
United Kingdom | Commercial property | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 50.00% |
United Kingdom | UK Government securities | Maximum |  |
Asset Category |  |
Target percentage of plan assets | 50.00% |

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- Definition Percentage of target investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one 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 50 -Paragraph 1 -Subparagraph (d)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Percentage of actual investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one plan. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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