Retirement Plans - Information About Plan Assets (Details) - Pension Plan - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
United States
Defined Benefit Plan Disclosure
Fair value of plan assets	$ 3,792	$ 4,767	$ 4,459
United States | Cash and cash equivalents
Defined Benefit Plan Disclosure
Fair value of plan assets	222	171
United States | Total fixed income funds
Defined Benefit Plan Disclosure
Fair value of plan assets	795	667
United States | Corporate bonds
Defined Benefit Plan Disclosure
Fair value of plan assets	795	667
United States | Total mutual funds and equities
Defined Benefit Plan Disclosure
Fair value of plan assets	2,775	3,929
United States | Mutual funds
Defined Benefit Plan Disclosure
Fair value of plan assets	247	802
United States | Equity securities
Defined Benefit Plan Disclosure
Fair value of plan assets	2,528	3,127
United Kingdom
Defined Benefit Plan Disclosure
Fair value of plan assets	5,745	8,409	$ 7,975
United Kingdom | Cash and cash equivalents
Defined Benefit Plan Disclosure
Fair value of plan assets	540	339
United Kingdom | Bonds
Defined Benefit Plan Disclosure
Fair value of plan assets	2,296	3,491
United Kingdom | Other
Defined Benefit Plan Disclosure
Fair value of plan assets	379	757
United Kingdom | Equity securities
Defined Benefit Plan Disclosure
Fair value of plan assets	$ 2,530	$ 3,822