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Realignment and Transformation Programs (Details) - USD ($)
$ in Thousands
 12 Months Ended 63 Months Ended 72 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Mar. 31, 2020
Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges $ 21,107 $ (16,252)   $ 19,432
Non-Restructuring Charges 60,963 20,185    
Transformation Charges 22,719 28,039    
Total Realignment and Transformation Charges 104,789 31,972    
Restructuring Reserve [Roll Forward]        
Beginning Balance 6,703 11,927    
Charges 21,107 (16,252)   19,432
Ending Balance 18,255 6,703   18,255
Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 21,123 (16,252)    
Non-Restructuring Charges 42,384 15,502    
Total Realignment and Transformation Charges 63,507 (750)    
Restructuring Reserve [Roll Forward]        
Charges 21,123 (16,252)    
All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges (16) 0    
Non-Restructuring Charges 18,579 4,683    
Transformation Charges 22,719 28,039    
Total Realignment and Transformation Charges 41,282 32,722    
Restructuring Reserve [Roll Forward]        
Charges (16) 0    
Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring and Related Cost, Expected Cost 80,000     80,000
Restructuring Charges       19,432
Non-Restructuring Charges       51,899
Total Realignment Charges       71,331
Restructuring Reserve [Roll Forward]        
Charges       19,432
Realignment Programs, 2020 | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       19,432
Non-Restructuring Charges       33,965
Total Realignment Charges       53,397
Restructuring Reserve [Roll Forward]        
Charges       19,432
Realignment Programs, 2020 | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       0
Non-Restructuring Charges       17,934
Total Realignment Charges       17,934
Restructuring Reserve [Roll Forward]        
Charges       0
Realignment Programs, 2015        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges     $ 362,400  
Restructuring Reserve [Roll Forward]        
Charges     $ 362,400  
FPD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 19,666 (19,461)    
Non-Restructuring Charges 30,494 13,542    
Total Realignment and Transformation Charges 50,160 (5,919)    
Restructuring Reserve [Roll Forward]        
Charges 19,666 (19,461)    
FPD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       17,880
Non-Restructuring Charges       29,884
Total Realignment Charges       47,764
Restructuring Reserve [Roll Forward]        
Charges       17,880
FCD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 1,457 3,209    
Non-Restructuring Charges 11,890 1,960    
Total Realignment and Transformation Charges 13,347 5,169    
Restructuring Reserve [Roll Forward]        
Charges 1,457 3,209    
FCD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       1,552
Non-Restructuring Charges       4,081
Total Realignment Charges       5,633
Restructuring Reserve [Roll Forward]        
Charges       1,552
Cost of Sales        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 20,632 3,802   19,056
Non-Restructuring Charges 26,665 13,435    
Total Realignment and Transformation Charges 47,297 17,237    
Restructuring Reserve [Roll Forward]        
Charges 20,632 3,802   19,056
Cost of Sales | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 20,632 3,802    
Non-Restructuring Charges 26,613 13,180    
Total Realignment and Transformation Charges 47,245 16,982    
Restructuring Reserve [Roll Forward]        
Charges 20,632 3,802    
Cost of Sales | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 0 0    
Non-Restructuring Charges 52 255    
Total Realignment and Transformation Charges 52 255    
Restructuring Reserve [Roll Forward]        
Charges 0 0    
Cost of Sales | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       19,056
Non-Restructuring Charges       18,782
Total Realignment Charges       37,838
Restructuring Reserve [Roll Forward]        
Charges       19,056
Cost of Sales | Realignment Programs, 2020 | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       19,056
Non-Restructuring Charges       18,730
Total Realignment Charges       37,786
Restructuring Reserve [Roll Forward]        
Charges       19,056
Cost of Sales | Realignment Programs, 2020 | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       0
Non-Restructuring Charges       52
Total Realignment Charges       52
Restructuring Reserve [Roll Forward]        
Charges       0
Cost of Sales | FPD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 19,510 1,149    
Non-Restructuring Charges 19,328 11,438    
Total Realignment and Transformation Charges 38,838 12,587    
Restructuring Reserve [Roll Forward]        
Charges 19,510 1,149    
Cost of Sales | FPD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       17,829
Non-Restructuring Charges       19,203
Total Realignment Charges       37,032
Restructuring Reserve [Roll Forward]        
Charges       17,829
Cost of Sales | FCD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 1,122 2,653    
Non-Restructuring Charges 7,285 1,742    
Total Realignment and Transformation Charges 8,407 4,395    
Restructuring Reserve [Roll Forward]        
Charges 1,122 2,653    
Cost of Sales | FCD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       1,227
Non-Restructuring Charges       (473)
Total Realignment Charges       754
Restructuring Reserve [Roll Forward]        
Charges       1,227
Selling, General and Administrative Expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 475 (16,054)   376
Non-Restructuring Charges 34,298 6,750    
Transformation Charges 22,719 28,039    
Total Realignment and Transformation Charges 57,492 18,735    
Restructuring Reserve [Roll Forward]        
Charges 475 (16,054)   376
Selling, General and Administrative Expenses | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 491 (16,054)    
Non-Restructuring Charges 15,771 2,322    
Total Realignment and Transformation Charges 16,262 (13,732)    
Restructuring Reserve [Roll Forward]        
Charges 491 (16,054)    
Selling, General and Administrative Expenses | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges (16) 0    
Non-Restructuring Charges 18,527 4,428    
Transformation Charges 22,719 28,039    
Total Realignment and Transformation Charges 41,230 32,467    
Restructuring Reserve [Roll Forward]        
Charges (16) 0    
Selling, General and Administrative Expenses | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       376
Non-Restructuring Charges       33,117
Total Realignment Charges       33,493
Restructuring Reserve [Roll Forward]        
Charges       376
Selling, General and Administrative Expenses | Realignment Programs, 2020 | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       376
Non-Restructuring Charges       15,235
Total Realignment Charges       15,611
Restructuring Reserve [Roll Forward]        
Charges       376
Selling, General and Administrative Expenses | Realignment Programs, 2020 | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       0
Non-Restructuring Charges       17,882
Total Realignment Charges       17,882
Restructuring Reserve [Roll Forward]        
Charges       0
Selling, General and Administrative Expenses | FPD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 156 (16,610)    
Non-Restructuring Charges 11,166 2,104    
Total Realignment and Transformation Charges 11,322 (14,506)    
Restructuring Reserve [Roll Forward]        
Charges 156 (16,610)    
Selling, General and Administrative Expenses | FPD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       51
Non-Restructuring Charges       10,681
Total Realignment Charges       10,732
Restructuring Reserve [Roll Forward]        
Charges       51
Selling, General and Administrative Expenses | FCD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 335 556    
Non-Restructuring Charges 4,605 218    
Total Realignment and Transformation Charges 4,940 774    
Restructuring Reserve [Roll Forward]        
Charges 335 556    
Selling, General and Administrative Expenses | FCD | Realignment Programs, 2020        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       325
Non-Restructuring Charges       4,554
Total Realignment Charges       4,879
Restructuring Reserve [Roll Forward]        
Charges       325
Income tax expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   (4,000)    
Total Realignment and Transformation Charges   (4,000)    
Restructuring Reserve [Roll Forward]        
Charges   (4,000)    
Income tax expense | Subtotal—Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   (4,000)    
Total Realignment and Transformation Charges   (4,000)    
Restructuring Reserve [Roll Forward]        
Charges   (4,000)    
Income tax expense | All Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0    
Total Realignment and Transformation Charges   0    
Restructuring Reserve [Roll Forward]        
Charges   0    
Income tax expense | FPD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   (4,000)    
Total Realignment and Transformation Charges   (4,000)    
Restructuring Reserve [Roll Forward]        
Charges   (4,000)    
Income tax expense | FCD        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0    
Total Realignment and Transformation Charges   0    
Restructuring Reserve [Roll Forward]        
Charges   0    
Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 17,150 4,394   15,328
Restructuring Reserve [Roll Forward]        
Charges 17,150 4,394   15,328
Severance | Cost of Sales        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 16,927 2,183   15,244
Restructuring Reserve [Roll Forward]        
Charges 16,927 2,183   15,244
Severance | Selling, General and Administrative Expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 223 2,211   84
Restructuring Reserve [Roll Forward]        
Charges 223 2,211   84
Severance | Income tax expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0    
Restructuring Reserve [Roll Forward]        
Charges   0    
Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 52 58   52
Restructuring Reserve [Roll Forward]        
Charges 52 58   52
Contract Termination | Cost of Sales        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 52 58   52
Restructuring Reserve [Roll Forward]        
Charges 52 58   52
Contract Termination | Selling, General and Administrative Expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 0 0   0
Restructuring Reserve [Roll Forward]        
Charges 0 0   0
Contract Termination | Income tax expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0    
Restructuring Reserve [Roll Forward]        
Charges   0    
Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 1,420 (20,211)   1,426
Restructuring Reserve [Roll Forward]        
Charges 1,420 (20,211)   1,426
Asset Write-Downs | Cost of Sales        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 1,409 (1,782)   1,412
Restructuring Reserve [Roll Forward]        
Charges 1,409 (1,782)   1,412
Asset Write-Downs | Selling, General and Administrative Expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 11 (18,429)   14
Restructuring Reserve [Roll Forward]        
Charges 11 (18,429)   14
Asset Write-Downs | Income tax expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0    
Restructuring Reserve [Roll Forward]        
Charges   0    
Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 2,485 (493)   2,626
Restructuring Reserve [Roll Forward]        
Charges 2,485 (493)   2,626
Other | Cost of Sales        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 2,244 3,343   2,348
Restructuring Reserve [Roll Forward]        
Charges 2,244 3,343   2,348
Other | Selling, General and Administrative Expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 241 164   278
Restructuring Reserve [Roll Forward]        
Charges 241 164   $ 278
Other | Income tax expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   (4,000)    
Restructuring Reserve [Roll Forward]        
Charges   (4,000)    
Charges Expected to be Settled in Cash        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges 19,686 7,958    
Restructuring Reserve [Roll Forward]        
Charges 19,686 7,958    
Restructuring Cash Payment        
Restructuring Reserve [Roll Forward]        
Cash expenditures (9,146) (12,865)    
Other Non-Cash Adjustments        
Restructuring Reserve [Roll Forward]        
Other non-cash adjustments, including currency $ 1,012 $ (317)