Pension and Postretirement Benefits - Fair Value of the Plans' Assets by Asset Class (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Domestic Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	$ 9,122	$ 9,110
Domestic Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	5,205	5,452
Domestic Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	3,094	3,473
Domestic Plans | Cash
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	823	185
Foreign Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	6,367	6,200
Foreign Pension Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	5,051	3,965
Foreign Pension Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	1,268	2,036
Foreign Pension Plans | Other
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	48	199
Quoted Prices in Active Markets (Level 1) | Domestic Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	9,122	9,110
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	5,205	5,452
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	3,094	3,473
Quoted Prices in Active Markets (Level 1) | Domestic Plans | Cash
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	823	185
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	6,367	6,200
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	5,051	3,965
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	1,268	2,036
Quoted Prices in Active Markets (Level 1) | Foreign Pension Plans | Other
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	48	199
Significant Other Observable Inputs (Level 2) | Domestic Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Domestic Plans | Cash
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Other Observable Inputs (Level 2) | Foreign Pension Plans | Other
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Domestic Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Domestic Plans | Cash
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Fixed Income Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Equity Securities
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	0	0
Significant Unobservable Inputs (Level 3) | Foreign Pension Plans | Other
Defined Benefit Plan Disclosure [Line Items]
Fair value measurement domestic pension plans	$ 0	$ 0