Pension and Other Postretirement Benefits - Recognized on Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Assets and liabilities recognized on consolidated balance sheets:
Accrued pension and other postretirement benefits	$ (74,234)	$ (93,705)
Pension Benefits
Assets and liabilities recognized on consolidated balance sheets:
Other assets	6,973	11,923
Accrued compensation and benefits	(5,422)	(4,469)
Accrued pension and other postretirement benefits	(61,159)	(78,454)
Net liability recognized	(59,608)	(71,000)
Accumulated other comprehensive income (loss) on consolidated balance sheets that have not yet been recognized as components of net periodic benefit cost:
Net actuarial (loss) gain at beginning of year	(52,739)	(64,349)	$ (61,801)
Actuarial gain (loss)	16,455	4,131	(14,835)
Settlement impact	2,733	3,087	7,157
Amortization of actuarial loss (gain)	3,952	3,943	5,221
Amortization of prior service cost (credit)	270	279	280
Foreign currency translation	1,121	170	(371)
Net actuarial (loss) gain at end of year	(28,208)	(52,739)	(64,349)
Postretirement Benefits
Assets and liabilities recognized on consolidated balance sheets:
Other assets	0	0
Accrued compensation and benefits	(1,189)	(1,202)
Accrued pension and other postretirement benefits	(13,075)	(15,251)
Net liability recognized	(14,264)	(16,453)
Accumulated other comprehensive income (loss) on consolidated balance sheets that have not yet been recognized as components of net periodic benefit cost:
Net actuarial (loss) gain at beginning of year	6,362	4,640	8,454
Actuarial gain (loss)	1,527	2,179	(2,710)
Settlement impact	0	0	0
Amortization of actuarial loss (gain)	(469)	(320)	(967)
Amortization of prior service cost (credit)	(137)	(137)	(137)
Foreign currency translation	0	0	0
Net actuarial (loss) gain at end of year	$ 7,283	$ 6,362	$ 4,640