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Retirement Plans - Schedule of Net Benefit Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
United States |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Interest cost | $ 66 | $ 71 | $ 132 | $ 143
Expected return on plan assets | (68) | (64) | (136) | (128)
Recognized net actuarial loss | 15 | 16 | 30 | 31
Net periodic pension income | 13 | 23 | 26 | 46
United Kingdom |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Interest cost | 56 | 56 | 112 | 112
Expected return on plan assets | (93) | (84) | (186) | (168)
Amortization of prior service costs and transition amount | 6 | 6 | 12 | 12
Recognized net actuarial loss | 8 | 3 | 16 | 6
Net periodic pension income | $ (23) | $ (19) | $ (46) | $ (38)

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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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