Benefit Plans - Recognized on the Balance Sheet (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Defined Benefit Pension Plans
Defined Benefit Plan, Amounts for Asset (Liability) Recognized in Statement of Financial Position
Noncurrent liability	$ (4,937)	$ (6,250)
Accumulated other comprehensive income (loss), net of tax	567	(509)
Net amount recognized	(4,370)	(6,759)
Other Postretirement Benefits Plans
Defined Benefit Plan, Amounts for Asset (Liability) Recognized in Statement of Financial Position
Current liability	(18)	(18)
Noncurrent liability	(457)	(428)
Accumulated other comprehensive income (loss), net of tax	79	(299)
Net amount recognized	$ (396)	$ (745)