Consolidated Statements of Changes in Equity (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Foreign currency translation adjustments, income tax effect	$ 520	$ 469	$ 749
Minimum pension liability, income tax effect	$ (1,000)	$ (689)	$ (1,071)