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Retirement and Postretirement Benefits (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges $ 11,633 $ 530 $ 13,286 $ (14,523)
Non-Restructuring Charges 46,850 5,771 55,937 8,894
Transformation Charges 5,618 7,573 11,261 15,986
Total Realignment Program Charges 58,483 6,301 69,223 (5,629)
Total Realignment and Transformation Charges 64,101 13,874 80,484 10,357
FPD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 11,776 417 13,561 (15,431)
Non-Restructuring Charges 21,319 4,981 21,929 7,549
Total Realignment Program Charges 33,095 5,398 35,490 (7,882)
Total Realignment and Transformation Charges 33,095 5,398 35,490 (7,882)
FCD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges (143) 113 (275) 892
Non-Restructuring Charges 10,131 77 17,963 102
Total Realignment Program Charges 9,988 190 17,688 994
Total Realignment and Transformation Charges 9,988 190 17,688 994
Eliminations and All Other        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 0 0 0 16
Non-Restructuring Charges 15,400 713 16,045 1,243
Transformation Charges 5,618 7,573 11,261 15,986
Total Realignment Program Charges 15,400 713 16,045 1,259
Total Realignment and Transformation Charges 21,018 8,286 27,306 17,245
Subtotal–Reportable Segments        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 11,633 530 13,286 (14,539)
Non-Restructuring Charges 31,450 5,058 39,892 7,651
Total Realignment Program Charges 43,083 5,588 53,178 (6,888)
Total Realignment and Transformation Charges 43,083 5,588 53,178 (6,888)
Cost of Sales        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 11,483 (905) 13,059 2,174
Non-Restructuring Charges 18,370 4,769 26,255 7,190
Total Realignment Program Charges 29,853 3,864 39,314 9,364
Total Realignment and Transformation Charges 29,853 3,864 39,314 9,364
Cost of Sales | FPD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 11,650 (928) 13,331 1,695
Non-Restructuring Charges 12,003 4,727 12,128 7,122
Total Realignment Program Charges 23,653 3,799 25,459 8,817
Total Realignment and Transformation Charges 23,653 3,799 25,459 8,817
Cost of Sales | FCD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges (167) 23 (272) 479
Non-Restructuring Charges 5,819 42 13,579 68
Total Realignment Program Charges 5,652 65 13,307 547
Total Realignment and Transformation Charges 5,652 65 13,307 547
Cost of Sales | Eliminations and All Other        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 0 0 0 0
Non-Restructuring Charges 548 0 548 0
Total Realignment Program Charges 548 0 548 0
Total Realignment and Transformation Charges 548 0 548 0
Cost of Sales | Subtotal–Reportable Segments        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 11,483 (905) 13,059 2,174
Non-Restructuring Charges 17,822 4,769 25,707 7,190
Total Realignment Program Charges 29,305 3,864 38,766 9,364
Total Realignment and Transformation Charges 29,305 3,864 38,766 9,364
Selling, General and Administrative Expenses        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 150 1,435 227 (16,697)
Non-Restructuring Charges 28,480 1,002 29,682 1,704
Transformation Charges 5,618 7,573 11,261 15,986
Total Realignment Program Charges 28,630 2,437 29,909 (14,993)
Total Realignment and Transformation Charges 34,248 10,010 41,170 993
Selling, General and Administrative Expenses | FPD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 126 1,345 230 (17,126)
Non-Restructuring Charges 9,316 254 9,801 427
Total Realignment Program Charges 9,442 1,599 10,031 (16,699)
Total Realignment and Transformation Charges 9,442 1,599 10,031 (16,699)
Selling, General and Administrative Expenses | FCD        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 24 90 (3) 413
Non-Restructuring Charges 4,312 35 4,384 34
Total Realignment Program Charges 4,336 125 4,381 447
Total Realignment and Transformation Charges 4,336 125 4,381 447
Selling, General and Administrative Expenses | Eliminations and All Other        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 0 0 0 16
Non-Restructuring Charges 14,852 713 15,497 1,243
Transformation Charges 5,618 7,573 11,261 15,986
Total Realignment Program Charges 14,852 713 15,497 1,259
Total Realignment and Transformation Charges 20,470 8,286 26,758 17,245
Selling, General and Administrative Expenses | Subtotal–Reportable Segments        
Components of the net periodic cost for retirement and postretirement benefits        
Restructuring Charges 150 1,435 227 (16,713)
Non-Restructuring Charges 13,628 289 14,185 461
Total Realignment Program Charges 13,778 1,724 14,412 (16,252)
Total Realignment and Transformation Charges 13,778 1,724 14,412 (16,252)
Domestic Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 6,600 5,900 12,900 11,500
Interest cost 3,700 4,200 7,500 8,700
Expected return on plan assets (6,100) (6,300) (12,800) (12,800)
Amortization of prior service cost 100 100 100 100
Amortization of unrecognized net loss (gain) 1,800 900 3,500 1,800
Net periodic cost recognized 6,100 4,800 11,200 9,300
Foreign Plan        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 1,700 1,500 3,400 2,900
Interest cost 1,600 2,200 3,200 4,500
Expected return on plan assets (1,200) (1,900) (2,400) (3,800)
Amortization of prior service cost 0 100 100 100
Amortization of unrecognized net loss (gain) 1,100 700 2,100 1,500
Net periodic cost recognized 3,200 2,600 6,400 5,200
Postretirement Medical Benefits        
Components of the net periodic cost for retirement and postretirement benefits        
Service cost 0 0 0 0
Interest cost 200 200 300 400
Expected return on plan assets 0 0 0 0
Amortization of prior service cost 0 0 100 0
Amortization of unrecognized net loss (gain) 0 0 (100) (100)
Net periodic cost recognized $ 200 $ 200 $ 300 $ 300