Pension Plans and Other Postretirement Benefits - Reconciliation of Benefit Obligations, Plan Assets and Funded Status of Plans, as well as Summary of Significant Assumptions for Benefit Plans (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Pension Plans
Change in plan assets:
Fair value of plan assets, beginning balance	$ 528,057
Fair value of plan assets, Ending Balance	549,645	$ 528,057
Other Postretirement Benefits
Change in benefit obligations:
Benefit obligation, beginning balance	35,990	47,493
Service cost	47	85	$ 123
Interest cost	1,873	1,307	1,238
Actuarial gain	(6,618)	(10,164)
Benefits paid	(2,403)	(2,731)
Benefit obligation, ending balance	28,889	35,990	47,493
Change in plan assets:
Fair value of plan assets, beginning balance	0	0
Defined Benefit Plan, Plan Assets, Contributions by Employer	2,403	2,731
Benefits paid	(2,403)	(2,731)
Fair value of plan assets, Ending Balance	0	0	0
Funded status	(28,889)	(35,990)
Current liabilities (accrued expenses)	(2,642)	(3,239)
Noncurrent liabilities (pension benefits)	(26,247)	(32,751)
Net pension liability	$ (28,889)	$ (35,990)
Weighted-average assumptions used to determine benefit obligations at December 31:
Discount rate	5.21%	5.45%
Rate of compensation increase	0.00%	0.00%
U.S. Plans | Pension Plans
Change in benefit obligations:
Benefit obligation, beginning balance	$ 514,971	$ 680,696
Service cost	499	904	869
Interest cost	26,924	18,827	18,005
Actuarial gain	11,957	(144,288)
Benefits paid	(41,449)	(41,168)
Employee contributions	0	0
Foreign exchange loss (gain)	0	0
Settlements/curtailments	0	0
Other	0	0
Benefit obligation, ending balance	512,902	514,971	680,696
Change in plan assets:
Fair value of plan assets, beginning balance	469,828	605,991
Actual return on plan assets	54,785	(95,925)
Defined Benefit Plan, Plan Assets, Contributions by Employer	967	930
Benefits paid	(41,449)	(41,168)
Employee contributions	0	0
Foreign exchange gain (loss)	0	0
Settlements/curtailments	0	0
Other	0	0
Fair value of plan assets, Ending Balance	484,131	469,828	$ 605,991
Funded status	(28,771)	(45,143)
Current liabilities (accrued expenses)	(912)	(947)
Noncurrent liabilities (pension benefits)	(27,859)	(44,196)
Net pension liability	(28,771)	(45,143)
Prior service benefit	0	0
Net amount recognized	$ 0	$ 0
Weighted-average assumptions used to determine benefit obligations at December 31:
Discount rate	5.21%	5.46%	2.86%	2.50%
Rate of compensation increase	0.00%	0.00%
Foreign Plans | Pension Plans
Change in benefit obligations:
Benefit obligation, beginning balance	$ 180,561	$ 255,234
Service cost	5,686	3,700	$ 3,697
Interest cost	7,153	3,363	2,427
Actuarial gain	10,078	(49,380)
Benefits paid	(9,051)	(11,049)
Employee contributions	60	64
Foreign exchange loss (gain)	7,137	(18,562)
Settlements/curtailments	(5,606)	(1,028)
Other	(100)	(1,781)
Benefit obligation, ending balance	195,918	180,561	255,234
Change in plan assets:
Fair value of plan assets, beginning balance	58,229	94,256
Actual return on plan assets	4,395	(29,694)
Defined Benefit Plan, Plan Assets, Contributions by Employer	14,496	12,451
Benefits paid	(9,051)	(11,049)
Employee contributions	60	64
Foreign exchange gain (loss)	3,091	(9,004)
Settlements/curtailments	(5,606)	(1,028)
Other	(100)	2,233
Fair value of plan assets, Ending Balance	65,514	58,229	$ 94,256
Funded status	(130,404)	(122,332)
Current liabilities (accrued expenses)	(7,951)	(6,957)
Noncurrent liabilities (pension benefits)	(122,453)	(115,375)
Net pension liability	(130,404)	(122,332)
Prior service benefit	(531)	(615)
Net amount recognized	$ (531)	$ (615)
Weighted-average assumptions used to determine benefit obligations at December 31:
Discount rate	3.73%	4.04%	1.44%	0.86%
Rate of compensation increase	3.67%	3.67%