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Realignment and Transformation Programs (Details) - USD ($)
$ in Thousands
 12 Months Ended 45 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges $ 857 $ 9,513 $ 29,801
Non-Restructuring Charges (1,022) 12,978  
Total Realignment Charges (165) 22,491  
Restructuring Reserve [Roll Forward]      
Beginning Balance 4,868 18,255  
Charges 857 9,513 29,801
Ending Balance 965 4,868 4,868
Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 857 9,513  
Non-Restructuring Charges (687) 8,475  
Total Realignment Charges 170 17,988  
Restructuring Reserve [Roll Forward]      
Charges 857 9,513  
All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (335) 4,503  
Total Realignment Charges (335) 4,503  
Restructuring Reserve [Roll Forward]      
Charges 0 0  
Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring and Related Cost, Expected Cost 95,000    
Restructuring Charges     29,801
Non-Restructuring Charges     63,855
Total Realignment Charges     93,656
Restructuring Reserve [Roll Forward]      
Charges     29,801
Realignment Programs, 2020 | Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     29,817
Non-Restructuring Charges     41,753
Total Realignment Charges     71,570
Restructuring Reserve [Roll Forward]      
Charges     29,817
Realignment Programs, 2020 | All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     (16)
Non-Restructuring Charges     22,102
Total Realignment Charges     22,086
Restructuring Reserve [Roll Forward]      
Charges     (16)
FPD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 768 8,711  
Non-Restructuring Charges (382) 6,571  
Total Realignment Charges 386 15,282  
Restructuring Reserve [Roll Forward]      
Charges 768 8,711  
FPD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     27,358
Non-Restructuring Charges     36,074
Total Realignment Charges     63,432
Restructuring Reserve [Roll Forward]      
Charges     27,358
FCD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 89 802  
Non-Restructuring Charges (305) 1,904  
Total Realignment Charges (216) 2,706  
Restructuring Reserve [Roll Forward]      
Charges 89 802  
FCD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     2,459
Non-Restructuring Charges     5,679
Total Realignment Charges     8,138
Restructuring Reserve [Roll Forward]      
Charges     2,459
Cost of Sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 861 8,857 28,773
Non-Restructuring Charges (505) 7,989  
Total Realignment Charges 356 16,846  
Restructuring Reserve [Roll Forward]      
Charges 861 8,857 28,773
Cost of Sales | Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 861 8,857  
Non-Restructuring Charges (444) 7,399  
Total Realignment Charges 417 16,256  
Restructuring Reserve [Roll Forward]      
Charges 861 8,857  
Cost of Sales | All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (61) 590  
Total Realignment Charges (61) 590  
Restructuring Reserve [Roll Forward]      
Charges 0 0  
Cost of Sales | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     28,773
Non-Restructuring Charges     26,266
Total Realignment Charges     55,039
Restructuring Reserve [Roll Forward]      
Charges     28,773
Cost of Sales | Realignment Programs, 2020 | Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     28,773
Non-Restructuring Charges     25,685
Total Realignment Charges     54,458
Restructuring Reserve [Roll Forward]      
Charges     28,773
Cost of Sales | Realignment Programs, 2020 | All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     0
Non-Restructuring Charges     581
Total Realignment Charges     581
Restructuring Reserve [Roll Forward]      
Charges     0
Cost of Sales | FPD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 768 8,046  
Non-Restructuring Charges (530) 6,203  
Total Realignment Charges 238 14,249  
Restructuring Reserve [Roll Forward]      
Charges 768 8,046  
Cost of Sales | FPD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     26,642
Non-Restructuring Charges     24,877
Total Realignment Charges     51,519
Restructuring Reserve [Roll Forward]      
Charges     26,642
Cost of Sales | FCD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 93 811  
Non-Restructuring Charges 86 1,196  
Total Realignment Charges 179 2,007  
Restructuring Reserve [Roll Forward]      
Charges 93 811  
Cost of Sales | FCD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     2,131
Non-Restructuring Charges     808
Total Realignment Charges     2,939
Restructuring Reserve [Roll Forward]      
Charges     2,131
Selling, general and administrative expense ("SG&A")      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (4) 656 1,028
Non-Restructuring Charges (517) 4,989  
Total Realignment Charges (521) 5,645  
Restructuring Reserve [Roll Forward]      
Charges (4) 656 1,028
Selling, general and administrative expense ("SG&A") | Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (4) 656  
Non-Restructuring Charges (243) 1,076  
Total Realignment Charges (247) 1,732  
Restructuring Reserve [Roll Forward]      
Charges (4) 656  
Selling, general and administrative expense ("SG&A") | All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0  
Non-Restructuring Charges (274) 3,913  
Total Realignment Charges (274) 3,913  
Restructuring Reserve [Roll Forward]      
Charges 0 0  
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     1,028
Non-Restructuring Charges     37,589
Total Realignment Charges     38,617
Restructuring Reserve [Roll Forward]      
Charges     1,028
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020 | Subtotal—Reportable Segments      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     1,044
Non-Restructuring Charges     16,068
Total Realignment Charges     17,112
Restructuring Reserve [Roll Forward]      
Charges     1,044
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020 | All Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     (16)
Non-Restructuring Charges     21,521
Total Realignment Charges     21,505
Restructuring Reserve [Roll Forward]      
Charges     (16)
Selling, general and administrative expense ("SG&A") | FPD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 665  
Non-Restructuring Charges 148 368  
Total Realignment Charges 148 1,033  
Restructuring Reserve [Roll Forward]      
Charges 0 665  
Selling, general and administrative expense ("SG&A") | FPD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     716
Non-Restructuring Charges     11,197
Total Realignment Charges     11,913
Restructuring Reserve [Roll Forward]      
Charges     716
Selling, general and administrative expense ("SG&A") | FCD      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (4) (9)  
Non-Restructuring Charges (391) 708  
Total Realignment Charges (395) 699  
Restructuring Reserve [Roll Forward]      
Charges (4) (9)  
Selling, general and administrative expense ("SG&A") | FCD | Realignment Programs, 2020      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges     328
Non-Restructuring Charges     4,871
Total Realignment Charges     5,199
Restructuring Reserve [Roll Forward]      
Charges     328
Severance      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 118 1,131 16,571
Restructuring Reserve [Roll Forward]      
Charges 118 1,131 16,571
Severance | Cost of Sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 122 964 16,324
Restructuring Reserve [Roll Forward]      
Charges 122 964 16,324
Severance | Selling, general and administrative expense ("SG&A")      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges (4) 167 247
Restructuring Reserve [Roll Forward]      
Charges (4) 167 247
Contract Termination      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 327 34 413
Restructuring Reserve [Roll Forward]      
Charges 327 34 413
Contract Termination | Cost of Sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 327 34 413
Restructuring Reserve [Roll Forward]      
Charges 327 34 413
Contract Termination | Selling, general and administrative expense ("SG&A")      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0 0
Restructuring Reserve [Roll Forward]      
Charges 0 0 0
Asset Write-Downs      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 273 2,683 4,382
Restructuring Reserve [Roll Forward]      
Charges 273 2,683 4,382
Asset Write-Downs | Cost of Sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 273 2,683 4,368
Restructuring Reserve [Roll Forward]      
Charges 273 2,683 4,368
Asset Write-Downs | Selling, general and administrative expense ("SG&A")      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 0 14
Restructuring Reserve [Roll Forward]      
Charges 0 0 14
Other      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 139 5,665 8,435
Restructuring Reserve [Roll Forward]      
Charges 139 5,665 8,435
Other | Cost of Sales      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 139 5,176 7,668
Restructuring Reserve [Roll Forward]      
Charges 139 5,176 7,668
Other | Selling, general and administrative expense ("SG&A")      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 0 489 767
Restructuring Reserve [Roll Forward]      
Charges 0 489 $ 767
Charges Expected to be Settled in Cash      
Restructuring Cost and Reserve [Line Items]      
Restructuring Charges 584 6,829  
Restructuring Reserve [Roll Forward]      
Charges 584 6,829  
Restructuring Cash Payment      
Restructuring Reserve [Roll Forward]      
Cash expenditures (3,518) (18,942)  
Other Non-Cash Adjustments      
Restructuring Reserve [Roll Forward]      
Other non-cash adjustments, including currency $ (969) $ (1,274)