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Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Tax provision at U.S. statutory rate | 21.00% | 21.00% | 21.00%
State and local income tax | 0.90% | 1.10% | 0.60%
U.S. tax on foreign earnings | 1.30% | 0.60% | 0.10%
Italy patent box | (1.10%) | (1.20%) | (1.30%)
Foreign-Derived Intangible Income ("FDII") | (1.20%) | (1.10%) | (0.50%)
Excess tax benefits on stock-based compensation | (0.20%) | (0.50%) | (0.60%)
Audit settlements and unrecognized tax benefits | 2.70% | (0.20%) | (1.00%)
Valuation allowance on deferred tax assets | (3.10%) | (0.20%) | (0.40%)
Tax on undistributed foreign earnings | 0.30% | (0.10%) | 0.80%
Asbestos divestiture | 0.00% | 0.00% | 18.90%
Foreign tax rate differential | 1.60% | 0.00% | (0.20%)
Amended tax return | (1.00%) | 0.00% | 0.00%
Other adjustments | (1.00%) | 0.30% | (0.20%)
Effective income tax rate | 20.20% | 19.70% | 37.20%
U.S. tax on foreign earnings | $ 6.8 |  |

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