Retirement and Benefit Plans - Plan Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
For measuring benefit obligations at year end:
Discount rate	5.04%	5.37%	2.85%
For measuring net periodic benefit cost:
Discount rate	5.50%	3.69%	2.26%
Expected return on plan assets	5.52%	3.91%	2.43%