Pension and Other Postretirement Benefits - Pension Assumptions (Details) - Pension Plan	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
U.S. Plans
Weighted average assumptions used to determine the company's obligations
Discount rate	5.19%	2.91%
Rate of compensation increase	3.92%	4.18%
Cash balance interest credit rate	4.21%	4.11%
Weighted average assumptions used to determine the company's net periodic benefit cost
Discount rate	2.91%	2.58%	3.34%
Expected long-term return on plan assets	4.10%	4.10%	5.30%
Rate of compensation increase	4.18%	4.26%	4.21%
Cash balance interest crediting rate	4.11%	3.76%	4.16%
Non-U.S. Plans
Weighted average assumptions used to determine the company's obligations
Discount rate	5.66%	3.47%
Rate of compensation increase	3.83%	3.67%
Cash balance interest credit rate	0.00%	0.00%
Weighted average assumptions used to determine the company's net periodic benefit cost
Discount rate	3.66%	2.84%	3.55%
Expected long-term return on plan assets	3.50%	3.37%	3.81%
Rate of compensation increase	3.77%	3.54%	3.68%
Cash balance interest crediting rate	0.00%	0.00%	0.00%
Canada
Weighted average assumptions used to determine the company's net periodic benefit cost
Expected long-term return on plan assets	3.06%

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingBenefitObligationDiscountRate
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingBenefitObligationRateOfCompensationIncrease
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Weighted-average interest crediting rate used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, cash balance and other defined benefit plans with promised interest crediting rate.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingBenefitObligationWeightedAverageInterestCreditingRate
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingNetPeriodicBenefitCostDiscountRate
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	duration

- Definition

Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (k)(3)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 8
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e2919-114920

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingNetPeriodicBenefitCostExpectedLongTermReturnOnAssets
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	duration

- Definition

Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingNetPeriodicBenefitCostRateOfCompensationIncrease
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	duration

- Definition

Weighted-average interest crediting rate used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, cash balance and other defined benefit plans with promised interest crediting rate.

+ References

+ Details

Name:	us-gaap_DefinedBenefitPlanAssumptionsUsedCalculatingNetPeriodicBenefitCostWeightedAverageInterestCreditingRate
Namespace Prefix:	us-gaap_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	duration

- References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanWeightedAverageAssumptionsUsedInCalculatingBenefitObligationAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- References

No definition available.

+ Details

Name:	us-gaap_DefinedBenefitPlanWeightedAverageAssumptionsUsedInCalculatingNetPeriodicBenefitCostAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Details

Name:	us-gaap_RetirementPlanTypeAxis=us-gaap_PensionPlansDefinedBenefitMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanSponsorLocationAxis=country_US
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanSponsorLocationAxis=us-gaap_ForeignPlanMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_RetirementPlanSponsorLocationAxis=country_CA
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: