Pension Plans and Other Postretirement Benefits - Components of Pension and Postretirement Benefits Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted-average assumption percentages:
Expected return on plan assets	6.66%	6.48%	6.50%
Other Postretirement Benefits
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 47	$ 85	$ 123
Interest cost	1,873	1,307	1,238
Actuarial (gain) loss	(6,816)	(10,163)	(2,568)
Total net pension benefits cost (credit)	$ (4,896)	$ (8,771)	$ (1,207)
Weighted-average assumption percentages:
Discount rate	5.45%	2.85%	2.49%
Rate of compensation increase	0.00%	0.00%	3.50%
U.S. Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 499	$ 904	$ 869
Interest cost	26,924	18,827	18,005
Expected return on assets	(30,875)	(40,288)	(39,972)
Actuarial (gain) loss	(11,951)	(8,008)	(34,857)
Amortization of prior service benefit	0	0	0
Total net pension benefits cost (credit)	$ (15,403)	$ (28,565)	$ (55,955)
Weighted-average assumption percentages:
Expected return on plan assets	6.88%	6.89%	6.88%
Rate of compensation increase	0.00%	0.00%	0.00%
Foreign Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Service cost	$ 5,686	$ 3,700	$ 3,697
Interest cost	7,153	3,363	2,427
Expected return on assets	(2,872)	(3,252)	(3,593)
Actuarial (gain) loss	8,593	(18,818)	(19,494)
Amortization of prior service benefit	81	89	115
Total net pension benefits cost (credit)	$ 18,641	$ (14,918)	$ (16,848)
Weighted-average assumption percentages:
Expected return on plan assets	4.86%	3.85%	3.98%
Rate of compensation increase	3.67%	3.12%	3.26%