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Pension and Other Postretirement Benefits - Assumptions Used (Details) - Pension Plan
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
U.S. Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]      
Discount rate 5.20% 2.90% 2.50%
Compensation increase 5.00% 4.70% 4.70%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]      
Discount rate - service cost 3.30% 3.10% 3.60%
Discount rate - interest cost 2.20% 1.70% 2.80%
Compensation increase 4.70% 4.70% 4.70%
Long-term rate of return 6.60% 5.70% 6.80%
Non-U.S. Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]      
Discount rate 4.90% 2.50% 1.40%
Compensation increase 2.70% 2.50% 3.00%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]      
Discount rate - service cost 2.90% 2.20% 2.60%
Discount rate - interest cost 2.60% 1.80% 1.90%
Compensation increase 2.70% 2.50% 3.00%
Long-term rate of return 4.30% 3.30% 3.30%