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Income Taxes - Effective Tax Rate Reconciliation (Details) | 12 Months Ended
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Dec. 31, 2022 Rate | Dec. 31, 2021 Rate | Dec. 31, 2020 Rate
Income Tax Disclosure [Abstract] |  |  |
Tax provision at U.S. statutory rate | 21.00% | 21.00% | 21.00%
Asbestos divestiture | 0.00% | 18.90% | 0.00%
Tax on undistributed foreign earnings | (0.10%) | 0.80% | 7.40%
Pension settlement AOCI expense | 0.00% | 0.00% | 5.90%
Italy patent box | (1.20%) | (1.30%) | (5.60%)
Audit settlements and unrecognized tax benefits | (0.20%) | (1.00%) | (5.40%)
Excess tax benefits on stock-based compensation | (0.50%) | (0.60%) | (3.60%)
State and local income tax | 1.10% | 0.60% | (2.40%)
Foreign tax rate differential | 0.00% | (0.20%) | 1.60%
Valuation allowance on deferred tax assets | (0.20%) | (0.40%) | 1.50%
U.S. tax on foreign earnings | 0.60% | 0.10% | (0.20%)
U.S. permanent items | (0.50%) | (0.10%) | (0.10%)
Other adjustments | (0.30%) | (0.60%) | (2.10%)
Effective income tax rate | 19.70% | 37.20% | 18.00%

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