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Retirement Plans - Accumulated Benefit Obligations in Excess of Plan Asset (Details) - Pension Plan - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
United States      
Defined Benefit Plan Disclosure      
Projected benefit obligation $ 6,101 $ 7,875 $ 8,448
Accumulated benefit obligation 6,101 7,875  
Fair value of plan assets 3,792 4,767 4,459
United Kingdom      
Defined Benefit Plan Disclosure      
Projected benefit obligation 4,671 9,135 10,265
Accumulated benefit obligation 4,671 9,135  
Fair value of plan assets $ 5,745 $ 8,409 $ 7,975