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Benefit Plans - Projected and Accumulated Benefit Obligation (Details) - Defined Benefit Pension Plans - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plan Disclosure      
Projected benefit obligation $ 66,555 $ 66,879  
Accumulated benefit obligation 66,555 66,879  
Fair value of plan assets $ 61,618 $ 60,629 $ 82,914