CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (LOSS) (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Comprehensive Income [Abstract]
Foreign currency translation adjustments, deferred income taxes	$ 3,162	$ (6,752)	$ (23)
Net gains (losses) on cash flow hedging instruments, deferred income taxes	138	(1,284)	(797)
Pension liability adjustments, deferred income taxes	(2,693)	(2,590)	(5,409)
Unrealized gain (loss) on marketable securities, deferred income taxes	$ (2)	$ 4	$ (12)