Pension and Postretirement Benefits - Summary of Funded Status of the Plans (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Domestic Plans
Change in plan assets:
Fair value of plan assets at beginning of year	$ 9,110
Fair value of plan assets at end of year	9,122	$ 9,110
Foreign Pension Plans
Change in benefit obligation:
Service cost	176	280	$ 457
Interest cost	391	361	339
Actuarial adjustments	11	(724)	(375)
Settlement income	0	(593)	0
Change in plan assets:
Fair value of plan assets at beginning of year	6,200
Fair value of plan assets at end of year	6,367	6,200
Foreign Pension Plans | Funded Plans
Change in benefit obligation:
Benefit obligation at beginning of year	6,085	10,790
Service cost	176	280
Interest cost	303	283
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Increase (Decrease) for Plan Amendment	382	(1,682)
Benefits paid	(525)	(392)
Settlement income	0	(2,616)
Translation adjustment	66	(578)
Benefit obligation at end of year	6,487	6,085	10,790
Change in plan assets:
Fair value of plan assets at beginning of year	6,200	11,171
Actual return on plan assets	643	(1,597)
Company contributions	17	222
Benefits paid	(525)	(392)
Settlement	0	2,616
Translation adjustment	66	(588)
Fair value of plan assets at end of year	6,367	6,200	11,171
Funded status at end of year	(120)	115
Foreign Pension Plans | Unfunded Pension Plans
Change in benefit obligation:
Benefit obligation at beginning of year	1,957	2,470
Service cost	0	0
Interest cost	88	78
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Increase (Decrease) for Plan Amendment	(98)	(268)
Benefits paid	(174)	(176)
Settlement income	0	0
Translation adjustment	28	(147)
Benefit obligation at end of year	1,801	1,957	2,470
Change in plan assets:
Fair value of plan assets at beginning of year	0	0
Actual return on plan assets	0	0
Company contributions	174	176
Benefits paid	(174)	(176)
Settlement	0	0
Translation adjustment	0	0
Fair value of plan assets at end of year	0	0	0
Funded status at end of year	(1,801)	(1,957)
Pension Plans | Domestic Plans
Change in benefit obligation:
Interest cost	845	478	419
Actuarial adjustments	198	(3,409)	(883)
Pension Plans | Domestic Plans | Funded Plans
Change in benefit obligation:
Benefit obligation at beginning of year	11,454	15,191
Service cost	0	0
Interest cost	555	321
Plan amendments	0	(518)
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Increase (Decrease) for Plan Amendment	(232)	(2,621)
Benefits paid	(821)	(919)
Benefit obligation at end of year	11,420	11,454	15,191
Change in plan assets:
Fair value of plan assets at beginning of year	9,110	11,647	9,110
Actual return on plan assets	323	(2,120)
Company contributions	510	502
Benefits paid	(821)	(919)
Fair value of plan assets at end of year	9,122	9,110	11,647
Funded status at end of year	(2,298)	(2,344)
Pension Plans | Domestic Plans | Unfunded Pension Plans
Change in benefit obligation:
Benefit obligation at beginning of year	5,966	9,170
Service cost	0	0
Interest cost	290	157
Plan amendments	0	0
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Increase (Decrease) for Plan Amendment	(163)	(2,815)
Benefits paid	(585)	(546)
Benefit obligation at end of year	5,834	5,966	9,170
Change in plan assets:
Fair value of plan assets at beginning of year	0	0	0
Actual return on plan assets	0	0
Company contributions	585	546
Benefits paid	(585)	(546)
Fair value of plan assets at end of year	0	0	0
Funded status at end of year	(5,834)	(5,966)
Postretirement Benefit Plans
Change in benefit obligation:
Benefit obligation at beginning of year	7,723	10,134
Service cost	21	34
Interest cost	347	179
Plan amendments	0	509
Defined Benefit Plan, Net Periodic Benefit Cost (Credit), Increase (Decrease) for Plan Amendment	125	(2,540)
Benefits paid	(517)	(593)
Benefit obligation at end of year	7,699	7,723	10,134
Change in plan assets:
Fair value of plan assets at beginning of year	0	0	0
Actual return on plan assets	0	0
Company contributions	517	593
Benefits paid	(517)	(593)
Fair value of plan assets at end of year	0	0	0
Funded status at end of year	(7,699)	(7,723)
Postretirement Benefit Plans | Domestic Plans
Change in benefit obligation:
Service cost	21	34	70
Interest cost	347	179	181
Actuarial adjustments	125	(2,540)	(642)
Settlement income	$ 0	$ 0	$ 65