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CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Statement of Comprehensive Income [Abstract]      
Foreign currency translation, continuing operations, adjustments, tax $ 7,182 $ (6,634) $ (5,563)
Prior service cost recognized in net periodic cost, tax 233 232 232
Unamortized (loss) gain arising during the period, tax (2,284) 850 (1,671)
Plan amendments, curtailments, and settlements, tax (10,352) 0 0
Net loss recognized in net periodic cost, tax (1,844) (1,778) (1,988)
Foreign currency translation, tax 145 (366) (238)
Unrealized gain (loss) on derivatives arising during the period, tax 123 (551) (27)
Reclassification adjustment on derivatives included in net income, tax $ 385 $ 203 $ 62