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Accrued Expenses and Other Liabilities - Other Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Accrued Liabilities and Other Liabilities [Abstract]      
Defined benefit and other post-retirement benefit plans $ 138,992 $ 177,623  
Operating lease liabilities 134,448 133,989  
Deferred compensation 88,681 82,814  
Unrecognized tax benefits 79,757 90,097  
Legal and environmental 31,304 28,483  
Deferred revenue 21,513 13,921 $ 10,921
Warranty 5,119 5,655  
Deferred employment taxes 0 15,783  
Other 32,728 21,949  
Other liabilities $ 532,542 $ 570,314