Property, Plant and Equipment (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 2,651,567	$ 2,578,497
Accumulated depreciation	(1,619,751)	(1,573,672)
Property, plant and equipment, net	1,031,816	1,004,825
Depreciation	157,347	148,910	$ 147,309
Land
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	66,443	62,495
Buildings and improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	640,654	620,500
Machinery, equipment and other
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 1,944,470	$ 1,895,502