Benefit Plans - Changes to Benefit Obligations and Fair Value of Plan Assets and Funded Status (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Funded status and amounts recognized in balance sheets
Pension liabilities for underfunded plans	$ (102,577)	$ (134,491)
Funded Plan
Changes to PBO or APBO
Benefit obligation at beginning of year	91,303
Interest cost	2,466	2,261	$ 2,946
Benefit obligation at end of year	69,436	91,303
Changes to fair value of plan assets
Fair value of plan assets at beginning of year	106,648
Fair value of plan assets at end of year	78,149	106,648
PBO, ABO and fair value of plan assets
Projected benefit obligation	69,436	91,303
Accumulated benefit obligation	69,436	91,303
Fair value of plan assets	78,149	106,648
Overfunded (underfunded) portion of PBO/ABO	8,713	15,345
Unfunded Plan
Changes to PBO or APBO
Benefit obligation at beginning of year	113,129
Benefit obligation at end of year	86,152	113,129
PBO, ABO and fair value of plan assets
Projected benefit obligation	86,152	113,129
Accumulated benefit obligation	86,152	113,129
Overfunded (underfunded) portion of PBO/ABO	(86,152)	(113,129)
Pension Plan
Changes to PBO or APBO
Benefit obligation at beginning of year	204,432	219,392
Interest cost	5,518	5,065	6,519
Actuarial loss (gain)	(38,949)	(4,614)
Benefit payments	(15,413)	(15,411)
Benefit obligation at end of year	155,588	204,432	219,392
Changes to fair value of plan assets
Fair value of plan assets at beginning of year	106,648	114,795
Actual return on plan assets	(20,924)	(536)
Benefit payments from trust	(7,575)	(7,611)
Fair value of plan assets at end of year	78,149	106,648	114,795
Funded status and amounts recognized in balance sheets
Pension assets for overfunded plans	8,713	15,345
Pension liabilities for underfunded plans	(86,152)	(113,129)
Funded status	(77,439)	(97,784)
PBO, ABO and fair value of plan assets
Projected benefit obligation	155,588	204,432	219,392
Accumulated benefit obligation	155,588	204,432
Fair value of plan assets	78,149	106,648	114,795
Overfunded (underfunded) portion of PBO/ABO	(77,439)	(97,784)
Other Benefits
Changes to PBO or APBO
Benefit obligation at beginning of year	21,362	22,538
Service cost	789	874
Interest cost	565	515	640
Actuarial loss (gain)	(5,808)	(2,074)
Benefit payments	(483)	(491)
Benefit obligation at end of year	16,425	21,362	22,538
Funded status and amounts recognized in balance sheets
Pension liabilities for underfunded plans	(16,425)	(21,362)
Funded status	(16,425)	(21,362)
PBO, ABO and fair value of plan assets
Projected benefit obligation	$ 16,425	$ 21,362	$ 22,538

Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level.

Name:	us-gaap_DefinedBenefitPlanAccumulatedBenefitObligation
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanActualReturnOnPlanAssets
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of gain (loss) from change in actuarial assumptions which (increases) decreases benefit obligation of defined benefit plan. Assumptions include, but are not limited to, interest, mortality, employee turnover, salary, and temporary deviation from substantive plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanActuarialGainLoss
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration

- Definition

Amount of asset (liability), recognized in statement of financial position, for defined benefit pension and other postretirement plans.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=123453770&loc=d3e1703-114919

+ Details

Name:	us-gaap_DefinedBenefitPlanAmountsRecognizedInBalanceSheet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanAmountsRecognizedInBalanceSheetAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Amount of asset, recognized in statement of financial position, for overfunded defined benefit pension and other postretirement plans.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 55
-Paragraph 17
-URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=123453770&loc=d3e1703-114919

Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 944
-SubTopic 210
-Section S99
-Paragraph 1
-Subparagraph (SX 210.7-03(a)(10))
-URI https://asc.fasb.org/extlink&oid=126734703&loc=d3e572229-122910

Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 3
-URI https://asc.fasb.org/extlink&oid=123453770&loc=d3e1731-114919

Reference 6: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 942
-SubTopic 210
-Section S99
-Paragraph 1
-Subparagraph (SX 210.9-03(10))
-URI https://asc.fasb.org/extlink&oid=126897435&loc=d3e534808-122878

+ Details

Name:	us-gaap_DefinedBenefitPlanAssetsForPlanBenefitsNoncurrent
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Amount of actuarial present value of benefits attributed to service rendered by employee for defined benefit plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanBenefitObligation
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Amount of payment to participant of defined benefit plan which decreases benefit obligation. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanBenefitObligationBenefitsPaid
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration

- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanChangeInBenefitObligationRollForward
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanChangeInFairValueOfPlanAssetsRollForward
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Amount of asset segregated and restricted to provide benefit under defined benefit plan. Asset includes, but is not limited to, stock, bond, other investment, earning from investment, and contribution by employer and employee.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (d)(iv)(01)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (d)(iv)(01)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (d)(ii)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 4: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 55
-Paragraph 17
-URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921

Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (d)(iv)(02)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 6: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 7: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (d)(ii)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

+ Details

Name:	us-gaap_DefinedBenefitPlanFairValueOfPlanAssets
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Amount of funded (unfunded) status of defined benefit plan, measured as difference between fair value of plan assets and benefit obligation. Includes, but is not limited to, overfunded (underfunded) status.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=123453770&loc=d3e1703-114919

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 3: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 55
-Paragraph 17
-URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921

+ Details

Name:	us-gaap_DefinedBenefitPlanFundedStatusOfPlan
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanFundedStatusOfPlanAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Amount of cost recognized for passage of time related to defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (h)(2)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 3A
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=123453770&loc=SL108413299-114919

Reference 3: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 55
-Paragraph 17
-URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921

Reference 4: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 55
-Paragraph 18
-URI https://asc.fasb.org/extlink&oid=123450688&loc=d3e4587-114921

Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (a)(2)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 6: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 6
-Subparagraph (a)(2)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e2709-114920

+ Details

Name:	us-gaap_DefinedBenefitPlanInterestCost
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of payment to participant under defined benefit plan which decreases plan assets. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanPlanAssetsBenefitsPaid
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration

- Definition

Amount of cost for actuarial present value of benefits attributed to service rendered by employee for defined benefit plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanServiceCost
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of liability, recognized in statement of financial position, for defined benefit pension and other postretirement plans.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 942
-SubTopic 210
-Section S99
-Paragraph 1
-Subparagraph (SX 210.9-03(15))
-URI https://asc.fasb.org/extlink&oid=126897435&loc=d3e534808-122878

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 944
-SubTopic 210
-Section S99
-Paragraph 1
-Subparagraph (SX 210.7-03(a)(15))
-URI https://asc.fasb.org/extlink&oid=126734703&loc=d3e572229-122910

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 45
-Paragraph 3
-URI https://asc.fasb.org/extlink&oid=123453770&loc=d3e1731-114919

+ Details

Name:	us-gaap_PensionAndOtherPostretirementDefinedBenefitPlansLiabilitiesCurrentAndNoncurrent
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Details

Name:	us-gaap_RetirementPlanFundingStatusAxis=us-gaap_FundedPlanMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanFundingStatusAxis=us-gaap_UnfundedPlanMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanTypeAxis=us-gaap_PensionPlansDefinedBenefitMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanTypeAxis=us-gaap_OtherPostretirementBenefitPlansDefinedBenefitMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: