Retirement Plans - Information About Plan Assets (Details) - Pension Plan - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
United States
Defined Benefit Plan Disclosure
Fair value of plan assets	$ 3,923	$ 3,792	$ 4,767
United States | Cash and cash equivalents
Defined Benefit Plan Disclosure
Fair value of plan assets	160	222
United States | Total fixed income funds
Defined Benefit Plan Disclosure
Fair value of plan assets	845	795
United States | Corporate bonds
Defined Benefit Plan Disclosure
Fair value of plan assets	845	795
United States | Total mutual funds and equities
Defined Benefit Plan Disclosure
Fair value of plan assets	2,918	2,775
United States | Mutual funds
Defined Benefit Plan Disclosure
Fair value of plan assets	0	247
United States | Equity securities
Defined Benefit Plan Disclosure
Fair value of plan assets	2,918	2,528
United Kingdom
Defined Benefit Plan Disclosure
Fair value of plan assets	6,399	5,745	$ 8,409
United Kingdom | Cash and cash equivalents
Defined Benefit Plan Disclosure
Fair value of plan assets	127	540
United Kingdom | Bonds
Defined Benefit Plan Disclosure
Fair value of plan assets	1,693	2,296
United Kingdom | Other
Defined Benefit Plan Disclosure
Fair value of plan assets	903	379
United Kingdom | Equity securities
Defined Benefit Plan Disclosure
Fair value of plan assets	$ 3,676	$ 2,530