Pension and Postretirement Benefits - Accumulated Benefit Obligation in Excess of Plan Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Domestic Plans \| Funded Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	$ 11,420	$ 11,454
Accumulated benefit obligation	11,420	11,454
Fair value of plan assets	9,122	9,110
Domestic Plans \| Unfunded Pension Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	5,834	5,966
Accumulated benefit obligation	5,834	5,966
Fair value of plan assets	0	0
Foreign Pension Plans \| Funded Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	6,487	6,085
Accumulated benefit obligation	6,079	5,727
Fair value of plan assets	6,367	6,200
Foreign Pension Plans \| Unfunded Pension Plans
Accumulated benefit obligation in excess of plan assets
Projected benefit obligation	1,801	1,957
Accumulated benefit obligation	1,801	1,957
Fair value of plan assets	$ 0	$ 0

Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (e)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Amount of plan asset for defined benefit plan with accumulated benefit obligation in excess of plan assets.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 55
-Paragraph 17
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480482/715-20-55-17

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

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- Definition

Amount of projected benefit obligation for defined benefit pension plan with accumulated benefit obligation in excess of plan assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

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