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Restructuring Activities (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | $ 26,705 | $ 44,468 | $ 26,822
Restructuring Reserve [Roll Forward] |  |  |
Beginning balance | 14,913 | 16,390 | 28,164
Restructuring charges | 26,705 | 44,468 | 26,822
Payments | (17,122) | (35,803) | (33,270)
Other, including foreign currency translation | (10,699) | (10,142) | (5,326)
Ending balance | 13,797 | 14,913 | 16,390
Severance |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Beginning balance | 10,547 | 13,751 | 24,284
Restructuring charges | 11,561 | 25,716 | 20,271
Payments | (10,951) | (29,768) | (29,887)
Other, including foreign currency translation | (427) | 848 | (917)
Ending balance | 10,730 | 10,547 | 13,751
Exit |  |  |
Restructuring Reserve [Roll Forward] |  |  |
Beginning balance | 4,366 | 2,639 | 3,880
Restructuring charges | 15,144 | 18,752 | 6,551
Payments | (6,171) | (6,035) | (3,383)
Other, including foreign currency translation | (10,272) | (10,990) | (4,409)
Ending balance | 3,067 | 4,366 | 2,639
Cost of goods and services |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 12,895 | 18,895 | 8,910
Selling, general and administrative expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 13,810 | 25,573 | 17,912
Corporate |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 2,021 | 4,145 | 2,961
Engineered Products | Total segments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 9,507 | 10,307 | 3,155
Clean Energy & Fueling | Total segments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 3,609 | 6,681 | 4,943
Imaging & Identification | Total segments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 4,589 | 5,946 | 6,426
Pumps & Process Solutions | Total segments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | 1,911 | 13,374 | 5,666
Climate & Sustainability Technologies | Total segments |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring charges, actual | $ 5,068 | $ 4,015 | $ 3,671

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