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Retirement Plans - Information About Plan Assets (Details) - Pension Plan - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
United States |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | $ 3,923 | $ 3,792 | $ 4,767
United States | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 160 | 222 |
United States | Total fixed income funds |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 845 | 795 |
United States | Corporate bonds |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 845 | 795 |
United States | Total mutual funds and equities |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 2,918 | 2,775 |
United States | Mutual funds |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 0 | 247 |
United States | Equity securities |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 2,918 | 2,528 |
United Kingdom |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 6,399 | 5,745 | $ 8,409
United Kingdom | Cash and cash equivalents |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 127 | 540 |
United Kingdom | Bonds |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 1,693 | 2,296 |
United Kingdom | Other |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | 903 | 379 |
United Kingdom | Equity securities |  |  |
Defined Benefit Plan Disclosure |  |  |
Fair value of plan assets | $ 3,676 | $ 2,530 |

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