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Retirement Plans - Components of Net Periodic Benefit Cost (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Retirement Benefits [Abstract]        
Service cost $ 617 $ 709 $ 1,250 $ 1,413
Interest cost 519 448 1,042 894
Recognized net actuarial loss 267 354 534 707
Net periodic benefit cost $ 1,403 $ 1,511 $ 2,826 $ 3,014