Income Taxes - Net Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Retirement, postemployment and deferred compensation plans	$ 60,398	$ 67,797
Accruals for other employee benefits, compensation, insurance and other	36,968	31,335
Net operating losses	42,944	52,522
Operating lease liabilities	14,144	18,403
Capitalized research and development costs	68,113	55,370
Other	36,387	32,974
Gross deferred tax assets	258,954	258,401
Valuation allowance	(3,240)	(4,258)
Net deferred tax assets	255,714	254,143
Deferred tax liabilities
Property, plant and equipment	37,950	44,698
Intangible assets	79,718	88,115
Operating lease right-of-use assets	9,626	15,453
Other	13,915	9,514
Gross deferred tax liabilities	141,209	157,780
Net deferred tax asset	$ 114,505	$ 96,363