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Other Accrued Expenses and Other Liabilities - Other Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Accrued Liabilities and Other Liabilities [Abstract] |  |  |
Operating lease liabilities | $ 172,983 | $ 165,741 |
Defined benefit and other post-retirement benefit plans | 86,066 | 92,630 |
Deferred compensation | 79,268 | 82,479 |
Unrecognized tax benefits | 27,307 | 34,361 |
Legal and environmental | 26,991 | 30,139 |
Deferred revenue | 19,544 | 19,879 | $ 21,513
Warranty | 7,117 | 5,098 |
Other | 42,696 | 44,576 |
Other liabilities | $ 461,972 | $ 474,903 |

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