Pension and Postretirement Benefits - Accumulated Benefit Obligation in Excess of Plan Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Domestic Plans | Funded Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	$ 11,454	$ 15,191
Accumulated benefit obligation	11,454	15,191
Fair value of plan assets	9,110	11,647
Domestic Plans | Unfunded Pension Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	5,966	9,170
Accumulated benefit obligation	5,966	9,170
Fair value of plan assets	0	0
Foreign Pension Plans | Funded Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	6,085	10,790
Accumulated benefit obligation	5,727	10,150
Fair value of plan assets	6,200	11,171
Foreign Pension Plans | Unfunded Pension Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	1,957	2,470
Accumulated benefit obligation	1,957	2,470
Fair value of plan assets	$ 0	$ 0