Employee Benefit Plans - Net Periodic Benefit Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net periodic benefit cost [Abstract]
Net periodic (benefit) expense	$ 5,679	$ 3,096	$ 11,897
Non-Qualified Supplemental Benefits | Non-Qualified Supplemental Benefits
Net periodic benefit cost [Abstract]
Service cost	970	1,426	1,561
Interest cost	1,636	1,215	1,232
Expected return on plan assets	0	0	0
Prior service cost (credit)	1,874	1,490	1,531
Actuarial loss (gain)	(3,207)	(2,016)	(1,672)
Settlement and curtailment loss (gain)	0	0	(743)
Net periodic (benefit) expense	1,273	2,115	1,909
United States | Qualified Defined Benefits | Qualified Defined Benefits
Net periodic benefit cost [Abstract]
Service cost	2,867	5,703	7,134
Interest cost	17,203	13,745	13,605
Expected return on plan assets	(26,208)	(29,104)	(28,980)
Prior service cost (credit)	0	110	212
Actuarial loss (gain)	0	2,300	10,012
Settlement and curtailment loss (gain)	4,434	6,276	2,031
Net periodic (benefit) expense	(1,704)	(970)	4,014
Foreign Plan | Qualified Defined Benefits | Qualified Defined Benefits
Net periodic benefit cost [Abstract]
Service cost	3,712	4,675	5,749
Interest cost	10,591	5,220	3,590
Expected return on plan assets	(7,331)	(7,191)	(7,188)
Prior service cost (credit)	(717)	(526)	(453)
Actuarial loss (gain)	656	1,747	3,938
Settlement and curtailment loss (gain)	(801)	(393)	194
Net periodic (benefit) expense	$ 6,110	$ 3,532	$ 5,830