Employee Benefit Plans - Plan Assets Measured and Reported in Financial Statements at Fair Value (Details) - Defined benefit pension plans - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 327,336	$ 322,175	$ 457,132
Fair Value, Inputs, Level 1, 2 and 3 | U.S. government and U.S. government agency securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	9,636	11,699
Fair Value, Inputs, Level 1, 2 and 3 | U.S. corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	63,707	47,637
Fair Value, Inputs, Level 1, 2 and 3 | International corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	3,291	17,338
Fair Value, Inputs, Level 1, 2 and 3 | Mutual funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	126,637	86,637
Fair Value, Inputs, Level 1, 2 and 3 | Money market funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	13,092	8,043
Fair Value, Inputs, Level 1, 2 and 3 | Other investments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	4,180	7,563
Fair Value, Inputs, Level 1, 2 and 3 | Insurance "buy-in" policy
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	60,727	57,310
Level 1
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	13,092	8,043
Level 1 | U.S. government and U.S. government agency securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 1 | U.S. corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 1 | International corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 1 | Money market funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	13,092	8,043
Level 1 | Other investments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 1 | Insurance "buy-in" policy
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 2
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	80,814	84,237
Level 2 | U.S. government and U.S. government agency securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	9,636	11,699
Level 2 | U.S. corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	63,707	47,637
Level 2 | International corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	3,291	17,338
Level 2 | Money market funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 2 | Other investments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	4,180	7,563
Level 2 | Insurance "buy-in" policy
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	60,727	57,310
Level 3 | U.S. government and U.S. government agency securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3 | U.S. corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3 | International corporate debt instruments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3 | Money market funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3 | Other investments
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0	0
Level 3 | Insurance "buy-in" policy
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	60,727	57,310
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, U.S. equity securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	562	37,915
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, International equity securities
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	2,874	2,694
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, Global fixed income
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	25,048	24,355
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, diversified funds
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0
Fair Value Measured at Net Asset Value Per Share | Collective trust funds, diversified funds, real estate
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 17,582	$ 20,984