Employee Benefit Plans - Fair Value of Plan Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	$ 16,294	$ 20,252	$ 21,276
United States | Qualified Defined Benefits | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	394,053	573,100	606,896
Total investments at fair value	261,081	392,709
United States | Qualified Defined Benefits | Qualified Defined Benefits | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	2,900	3,227
Total investments at fair value	2,900	3,227
United States | Qualified Defined Benefits | Qualified Defined Benefits | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	258,181	389,482
Total investments at fair value	258,181	389,482
United States | Qualified Defined Benefits | Qualified Defined Benefits | Corporate bonds
Defined Benefit Plan Disclosure [Line Items]
Total investments	201,203	316,367
United States | Qualified Defined Benefits | Qualified Defined Benefits | Corporate bonds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Corporate bonds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	201,203	316,367
United States | Qualified Defined Benefits | Qualified Defined Benefits | Government securities
Defined Benefit Plan Disclosure [Line Items]
Total investments	56,978	73,115
United States | Qualified Defined Benefits | Qualified Defined Benefits | Government securities | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Government securities | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	56,978	73,115
United States | Qualified Defined Benefits | Qualified Defined Benefits | Interest-bearing cash and short-term investments
Defined Benefit Plan Disclosure [Line Items]
Total investments	2,900	3,227
United States | Qualified Defined Benefits | Qualified Defined Benefits | Interest-bearing cash and short-term investments | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	2,900	3,227
United States | Qualified Defined Benefits | Qualified Defined Benefits | Interest-bearing cash and short-term investments | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	106,273	167,551
United States | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Short-term investment funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	26,699	12,840
United States | Qualified Defined Benefits | Qualified Defined Benefits | Short-term investment funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
United States | Qualified Defined Benefits | Qualified Defined Benefits | Short-term investment funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits
Defined Benefit Plan Disclosure [Line Items]
Total investments	152,860	219,677	$ 212,748
Total investments at fair value	110,016	142,526
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	67,558	92,363
Total investments at fair value	67,558	92,363
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	26,164	29,911
Total investments at fair value	26,164	29,911
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	16,294	20,252
Total investments at fair value	16,294	20,252
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	39,675	72,235
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Collective funds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Cash and cash equivalents
Defined Benefit Plan Disclosure [Line Items]
Total investments	909	3,634
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Cash and cash equivalents | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	909	3,634
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Cash and cash equivalents | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Cash and cash equivalents | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Common stocks
Defined Benefit Plan Disclosure [Line Items]
Total investments	46,618	58,054
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Common stocks | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	46,618	58,054
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Common stocks | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Common stocks | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Fixed income investments
Defined Benefit Plan Disclosure [Line Items]
Total investments	25,168	27,034
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Fixed income investments | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Fixed income investments | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	25,168	27,034
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Fixed income investments | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Mutual funds
Defined Benefit Plan Disclosure [Line Items]
Total investments	20,031	30,675
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Mutual funds | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	20,031	30,675
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Mutual funds | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Mutual funds | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other
Defined Benefit Plan Disclosure [Line Items]
Total investments	17,290	23,129
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	996	2,877
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	16,294	20,252
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other
Defined Benefit Plan Disclosure [Line Items]
Total investments	3,169	4,916
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 1
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 2
Defined Benefit Plan Disclosure [Line Items]
Total investments	0	0
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits | Other | Level 3
Defined Benefit Plan Disclosure [Line Items]
Total investments	$ 0	$ 0