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Contingent Liabilities and Other Matters - Asbestos Product Liability Matters (Details) - Asbestos Related Claims - claim
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Liability for Asbestos and Environmental Claims, Net [Roll Forward]      
Pending claims, beginning of year 11,079 13,767 17,359
Claims filed 2,449 3,607 3,857
Claims resolved (3,746) (6,295) (7,449)
Pending claims, end of year 9,782 11,079 13,767