Commitments and Contingencies - Activity in Recorded Environmental Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accrual for Environmental Loss Contingencies [Roll Forward]
Balance, beginning of year	$ 38,245	$ 46,617	$ 45,771
Expenditures	(3,393)	(10,378)	(2,752)
Accretion of discount	1,094	1,031	960
Additions and changes in estimates	(2,541)	673	4,063
Foreign currency translation adjustments and other	744	302	(1,425)
Balance, end of year	$ 34,149	38,245	46,617
Environmental Loss Contingency, Statement of Financial Position [Extensible Enumeration]	Accrued expenses, Other noncurrent liabilities
Less amounts recorded in Accrued expenses	$ 10,925	6,973	9,077
Environmental Loss Contingency, Current, Statement of Financial Position [Extensible Enumeration]	Accrued expenses
Amounts reported in Other noncurrent liabilities	$ 23,224	$ 31,272	$ 37,540