Employee Benefit Plans - Fair Value of Plan Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	$ 18,652	$ 16,294	$ 20,252
United States | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	392,519	394,053	573,100
Total investments at fair value	272,394	261,081
United States | Qualified Defined Benefits | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments
Total investments at fair value	3,901	2,900
United States | Qualified Defined Benefits | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments
Total investments at fair value	268,493	258,181
United States | Qualified Defined Benefits | Corporate bonds
Defined Benefit Plan Disclosure [Line Items]
Total investments	215,631	201,203
United States | Qualified Defined Benefits | Corporate bonds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Corporate bonds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	215,631	201,203
United States | Qualified Defined Benefits | Government securities
Defined Benefit Plan Disclosure [Line Items]
Total investments	52,862	56,978
United States | Qualified Defined Benefits | Government securities | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Government securities | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	52,862	56,978
United States | Qualified Defined Benefits | Interest-bearing cash and short-term investments
Defined Benefit Plan Disclosure [Line Items]
Total investments	3,901	2,900
United States | Qualified Defined Benefits | Interest-bearing cash and short-term investments | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	3,901	2,900
United States | Qualified Defined Benefits | Interest-bearing cash and short-term investments | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Collective funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	110,582	106,273
United States | Qualified Defined Benefits | Collective funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments
United States | Qualified Defined Benefits | Collective funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments
United States | Qualified Defined Benefits | Short-term investment funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	9,543	26,699
United States | Qualified Defined Benefits | Short-term investment funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments
United States | Qualified Defined Benefits | Short-term investment funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments
United States | Qualified Defined Benefits | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	392,519	394,053
Foreign Plan | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	175,765	152,860	$ 219,677
Total investments at fair value	128,994	110,016
Foreign Plan | Qualified Defined Benefits | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments
Total investments at fair value	77,422	67,558
Foreign Plan | Qualified Defined Benefits | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments
Total investments at fair value	32,920	26,164
Foreign Plan | Qualified Defined Benefits | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments
Total investments at fair value	18,652	16,294
Foreign Plan | Qualified Defined Benefits | Collective funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	41,502	39,675
Foreign Plan | Qualified Defined Benefits | Common stocks
Defined Benefit Plan Disclosure [Line Items]
Total investments	54,557	46,618
Foreign Plan | Qualified Defined Benefits | Common stocks | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	54,557	46,618
Foreign Plan | Qualified Defined Benefits | Common stocks | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Common stocks | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Fixed income investments
Defined Benefit Plan Disclosure [Line Items]
Total investments	32,421	25,168
Foreign Plan | Qualified Defined Benefits | Fixed income investments | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Fixed income investments | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	32,421	25,168
Foreign Plan | Qualified Defined Benefits | Fixed income investments | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Mutual funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	20,628	20,031
Foreign Plan | Qualified Defined Benefits | Mutual funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	20,628	20,031
Foreign Plan | Qualified Defined Benefits | Mutual funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Mutual funds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Cash and cash equivalents
Defined Benefit Plan Disclosure [Line Items]
Total investments	2,237	909
Foreign Plan | Qualified Defined Benefits | Cash and cash equivalents | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	2,237	909
Foreign Plan | Qualified Defined Benefits | Cash and cash equivalents | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Cash and cash equivalents | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Other
Defined Benefit Plan Disclosure [Line Items]
Total investments	19,151	17,290
Foreign Plan | Qualified Defined Benefits | Other | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Other | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	499	996
Foreign Plan | Qualified Defined Benefits | Other | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	18,652	16,294
Foreign Plan | Qualified Defined Benefits | Other
Defined Benefit Plan Disclosure [Line Items]
Total investments	5,269	3,169
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	$ 175,765	$ 152,860