Retirement Plans - Net Pension Expense Domestic and Foreign (Details) - Pension Plans - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Net pension expense (income)
Total expense, net	$ 52	$ 67
UNITED STATES
Net pension expense (income)
Service cost	0	0
Interest cost	9	10
Expected return on plan assets	0	0
Amortization of loss	6	5
Total expense, net	15	15
Foreign Plan
Net pension expense (income)
Service cost	3	6
Interest cost	6	10
Expected return on plan assets	(5)	(7)
Amortization of loss	33	43
Total expense, net	$ 37	$ 52