Retirement Plans - Net Pension Expense Domestic and Foreign (Details) - Pension Plans - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Net pension expense (income)
Total (income) expense, net	$ 67	$ 65
UNITED STATES
Net pension expense (income)
Service cost	0	0
Interest cost	10	5
Expected return on plan assets	0	0
Amortization of loss	5	8
Total (income) expense, net	15	13
Foreign Plan
Net pension expense (income)
Service cost	6	6
Interest cost	10	4
Expected return on plan assets	(7)	(3)
Amortization of loss	43	45
Total (income) expense, net	$ 52	$ 52