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Pension and Other Postretirement Benefits - Assumptions Used (Details) - Pension Plan
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
U.S. Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]      
Discount rate 5.00% 5.20% 2.90%
Compensation increase 5.00% 5.00% 4.70%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]      
Discount rate - service cost 5.40% 3.30% 3.10%
Discount rate - interest cost 5.10% 2.20% 1.70%
Compensation increase 5.00% 4.70% 4.70%
Long-term rate of return 7.20% 6.60% 5.70%
Non-U.S. Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]      
Discount rate 4.80% 4.90% 2.50%
Compensation increase 2.90% 2.70% 2.50%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]      
Discount rate - service cost 5.00% 2.90% 2.20%
Discount rate - interest cost 5.10% 2.60% 1.80%
Compensation increase 2.90% 2.70% 2.50%
Long-term rate of return 5.10% 4.30% 3.30%