Pension and Other Postretirement Benefits - Net Periodic Benefit Cost and Changes in Other Comprehensive Income (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract]
Net periodic benefit costs	$ (2,079)	$ (7,964)	$ (6,330)
Pension Benefits
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract]
Service cost	427	512	1,245
Interest cost	9,932	5,224	4,331
Expected return on plan assets	(8,070)	(7,981)	(8,297)
Settlement gain	0	(71)	35
Curtailment (gain) loss	(198)	207
Actuarial gain amortization	410	981	3,248
Prior service credit amortization	34	10	10
Net periodic benefit costs	2,535	(1,118)	572
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract]
Net (gain) loss arising during period	9,003	(10,563)	(836)
Settlement loss	(23)	(323)	(2,335)
Prior service (cost) credit	(15)	296	(7)
Actuarial (loss) gain	(480)	660	(7,879)
Curtailment recognition	(28)	(3)	(3)
Effect of exchange rates on amounts included in AOCI	560	(1,169)	(1,390)
Total recognized in other comprehensive loss (income)	9,017	(11,102)	(12,450)
Total recognized in net periodic benefit cost and other comprehensive loss (income)	11,552	(12,220)	(11,878)
Foreign | Pension Benefits
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract]
Service cost	399	465	698
Interest cost	6,083	3,079	2,594
Expected return on plan assets	(5,271)	(4,472)	(4,686)
Settlement gain	0	(71)	35
Curtailment (gain) loss	(213)	207
Actuarial gain amortization	388	658	996
Prior service credit amortization	28	3	3
Net periodic benefit costs	1,414	(131)	(360)
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract]
Net (gain) loss arising during period	8,605	(7,008)	(388)
Settlement loss	0	0	(83)
Prior service (cost) credit	0	303	0
Actuarial (loss) gain	(388)	(587)	(954)
Curtailment recognition	(28)	(3)	(3)
Effect of exchange rates on amounts included in AOCI	560	(1,169)	(1,390)
Total recognized in other comprehensive loss (income)	8,749	(8,464)	(2,818)
Total recognized in net periodic benefit cost and other comprehensive loss (income)	10,163	(8,595)	(3,178)
U.S. | Pension Benefits
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract]
Service cost	28	47	547
Interest cost	3,849	2,145	1,737
Expected return on plan assets	(2,799)	(3,509)	(3,611)
Settlement gain	0	0	0
Curtailment (gain) loss	15	0
Actuarial gain amortization	22	323	2,252
Prior service credit amortization	6	7	7
Net periodic benefit costs	1,121	(987)	932
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract]
Net (gain) loss arising during period	398	(3,555)	(448)
Settlement loss	(23)	(323)	(2,252)
Prior service (cost) credit	(15)	(7)	(7)
Actuarial (loss) gain	(92)	1,247	(6,925)
Curtailment recognition	0	0	0
Effect of exchange rates on amounts included in AOCI	0	0	0
Total recognized in other comprehensive loss (income)	268	(2,638)	(9,632)
Total recognized in net periodic benefit cost and other comprehensive loss (income)	1,389	(3,625)	(8,700)
U.S. | Other Postretirement Benefits
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract]
Service cost	0	0	1
Interest cost	69	37	27
Actuarial gain amortization	128	79	82
Prior service credit amortization	16	32	31
Net periodic benefit costs	(75)	(74)	(85)
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract]
Net (gain) loss arising during period	(150)	(263)	(992)
Prior service (cost) credit	0	(2)	(78)
Prior service credit	(16)	(32)	(31)
Actuarial (loss) gain	127	79	82
Total recognized in other comprehensive loss (income)	(7)	(154)	(957)
Total recognized in net periodic benefit cost and other comprehensive loss (income)	$ (82)	$ (228)	$ (1,042)