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Realignment Programs (Details) - USD ($)
$ in Thousands
 3 Months Ended 24 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges $ 276 $ 4,317  
Non-Restructuring Charges (675) 9,385  
Total Realignment Charges (399)    
Total Realignment Program Charges   13,702  
Restructuring Reserve [Roll Forward]      
Beginning Balance 4,868 18,255  
Charges, net of adjustments 276 4,317  
Cash expenditures (1,260) (8,296)  
Other non-cash adjustments, including currency (64) (617)  
Ending Balance 3,581 11,469 $ 3,581
Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 276 4,317  
Non-Restructuring Charges (321) 5,515  
Total Realignment Charges (45)    
Total Realignment Program Charges   9,832  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 276 4,317  
Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (354) 3,870  
Total Realignment Charges (354)    
Total Realignment Program Charges   3,870  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 1,373  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 1,373  
Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 240 2,190  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 240 2,190  
Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 36 754  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 36 754  
Charges Expected to be Settled in Cash      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 37 2,127  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 37 2,127  
Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 276 4,326  
Non-Restructuring Charges (474) 5,080  
Total Realignment Charges (198)    
Total Realignment Program Charges   9,406  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 276 4,326  
Cost of sales | Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 276 4,326  
Non-Restructuring Charges (413) 4,490  
Total Realignment Charges (137)    
Total Realignment Program Charges   8,816  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 276 4,326  
Cost of sales | Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (61) 590  
Total Realignment Charges (61)    
Total Realignment Program Charges   590  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Cost of sales | Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 1,373  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 1,373  
Cost of sales | Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Cost of sales | Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 240 2,190  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 240 2,190  
Cost of sales | Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 36 763  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 36 763  
Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 (9)  
Non-Restructuring Charges (201) 4,305  
Total Realignment Charges (201)    
Total Realignment Program Charges   4,296  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 (9)  
Selling, general and administrative expense | Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 (9)  
Non-Restructuring Charges 92 1,025  
Total Realignment Charges 92    
Total Realignment Program Charges   1,016  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 (9)  
Selling, general and administrative expense | Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (293) 3,280  
Total Realignment Charges (293)    
Total Realignment Program Charges   3,280  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Selling, general and administrative expense | Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Selling, general and administrative expense | Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Selling, general and administrative expense | Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
Selling, general and administrative expense | Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (9)  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments (9)  
FPD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 281 4,027  
Non-Restructuring Charges (289) 4,049  
Total Realignment Charges (8)    
Total Realignment Program Charges   8,076  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 281 4,027  
FPD | Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 281 4,027  
Non-Restructuring Charges (364) 3,892  
Total Realignment Charges (83)    
Total Realignment Program Charges   7,919  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 281 4,027  
FPD | Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges 75 157  
Total Realignment Charges 75    
Total Realignment Program Charges   157  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 0  
FCD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (5) 290  
Non-Restructuring Charges (32) 1,466  
Total Realignment Charges (37)    
Total Realignment Program Charges   1,756  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments (5) 290  
FCD | Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (5) 299  
Non-Restructuring Charges (49) 598  
Total Realignment Charges (54)    
Total Realignment Program Charges   897  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments (5) 299  
FCD | Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 (9)  
Non-Restructuring Charges 17 868  
Total Realignment Charges 17    
Total Realignment Program Charges   859  
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments 0 $ (9)  
2020 Realignment Program      
Restructuring Cost and Reserve [Line Items]      
Expected cost $ 95,000   95,000
Restructuring Charges     29,220
Non-Restructuring Charges     64,203
Total Realignment Charges     93,423
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     29,220
2020 Realignment Program | Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     29,237
Non-Restructuring Charges     42,120
Total Realignment Charges     71,357
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     29,237
2020 Realignment Program | Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     (17)
Non-Restructuring Charges     22,083
Total Realignment Charges     22,066
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     (17)
2020 Realignment Program | Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     16,453
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     16,453
2020 Realignment Program | Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     86
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     86
2020 Realignment Program | Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     4,349
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     4,349
2020 Realignment Program | Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     8,332
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     8,332
2020 Realignment Program | Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     28,188
Non-Restructuring Charges     26,298
Total Realignment Charges     54,486
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     28,188
2020 Realignment Program | Cost of sales | Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     28,188
Non-Restructuring Charges     25,717
Total Realignment Charges     53,905
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     28,188
2020 Realignment Program | Cost of sales | Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     0
Non-Restructuring Charges     581
Total Realignment Charges     581
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     0
2020 Realignment Program | Cost of sales | Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     16,202
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     16,202
2020 Realignment Program | Cost of sales | Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     86
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     86
2020 Realignment Program | Cost of sales | Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     4,335
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     4,335
2020 Realignment Program | Cost of sales | Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     7,565
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     7,565
2020 Realignment Program | Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     1,032
Non-Restructuring Charges     37,905
Total Realignment Charges     38,937
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     1,032
2020 Realignment Program | Selling, general and administrative expense | Subtotal–Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     1,049
Non-Restructuring Charges     16,403
Total Realignment Charges     17,452
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     1,049
2020 Realignment Program | Selling, general and administrative expense | Eliminations and All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     (17)
Non-Restructuring Charges     21,502
Total Realignment Charges     21,485
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     (17)
2020 Realignment Program | Selling, general and administrative expense | Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     251
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     251
2020 Realignment Program | Selling, general and administrative expense | Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     0
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     0
2020 Realignment Program | Selling, general and administrative expense | Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     14
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     14
2020 Realignment Program | Selling, general and administrative expense | Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     767
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     767
2020 Realignment Program | FPD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     26,872
Non-Restructuring Charges     36,167
Total Realignment Charges     63,039
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     26,872
2020 Realignment Program | FPD | Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     26,156
Non-Restructuring Charges     25,043
Total Realignment Charges     51,199
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     26,156
2020 Realignment Program | FPD | Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     716
Non-Restructuring Charges     11,124
Total Realignment Charges     11,840
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     716
2020 Realignment Program | FCD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     2,365
Non-Restructuring Charges     5,953
Total Realignment Charges     8,318
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     2,365
2020 Realignment Program | FCD | Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     2,032
Non-Restructuring Charges     674
Total Realignment Charges     2,706
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     2,032
2020 Realignment Program | FCD | Selling, general and administrative expense      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     333
Non-Restructuring Charges     5,279
Total Realignment Charges     5,612
Restructuring Reserve [Roll Forward]      
Charges, net of adjustments     $ 333