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Realignment Programs (Details) - USD ($)
$ in Thousands
 1 Months Ended 3 Months Ended 6 Months Ended 24 Months Ended
May 01, 2023
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   $ 1,382 $ 680 $ 9,341 $ 956  
Non-Restructuring Charges   10,169 (151) 19,089 (826)  
Total Realignment Charges   11,551        
Total Realignment Program Charges     529 28,430 130  
Restructuring Reserve [Roll Forward]            
Beginning Balance       965 4,868  
Charges, net of adjustments   1,382 680 9,341 956  
Cash expenditures       (1,231) (2,082)  
Other non-cash adjustments, including currency       (170) (310)  
Ending Balance   1,303 3,172 1,303 3,172  
Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1,381 680 9,274 956  
Non-Restructuring Charges   2,742 (178) 6,206 (499)  
Total Realignment Charges   4,123        
Total Realignment Program Charges     502 15,480 457  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1,381 680 9,274 956  
Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1 0 67 0  
Non-Restructuring Charges   7,427 27 12,883 (327)  
Total Realignment Charges   7,428        
Total Realignment Program Charges     27 12,950 (327)  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1 0 67 0  
Severance            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   250 570 441 568  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   250 570 441 568  
Contract Termination            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   228 0 294 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   228 0 294 0  
Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   4 19 7,601 259  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   4 19 7,601 259  
Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   900 91 1,005 129  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   900 91 1,005 129  
Charges Expected to be Settled in Cash            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges       1,739 696  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments       1,739 696  
Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1,410 680 464 956  
Non-Restructuring Charges   2,696 (213) 3,844 (687)  
Total Realignment Charges   4,106        
Total Realignment Program Charges     467 4,308 269  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1,410 680 464 956  
Cost of sales ("COS") | Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1,410 680 398 956  
Non-Restructuring Charges   2,696 (213) 4,109 (626)  
Total Realignment Charges   4,106        
Total Realignment Program Charges     467 4,507 330  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1,410 680 398 956  
Cost of sales ("COS") | Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   0 0 66 0  
Non-Restructuring Charges   0 0 (265) (61)  
Total Realignment Charges   0        
Total Realignment Program Charges     0 (199) (61)  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   0 0 66 0  
Cost of sales ("COS") | Severance            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   255 570 441 568  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   255 570 441 568  
Cost of sales ("COS") | Contract Termination            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   228 0 294 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   228 0 294 0  
Cost of sales ("COS") | Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   33 19 (1,270) 259  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   33 19 (1,270) 259  
Cost of sales ("COS") | Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   894 91 999 129  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   894 91 999 129  
Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (28) 0 8,877 0  
Non-Restructuring Charges   7,473 62 15,245 (139)  
Total Realignment Charges   7,445        
Total Realignment Program Charges     62 24,122 (139)  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   (28) 0 8,877 0  
Selling, general and administrative expense ("SG&A") | Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (29) 0 8,876 0  
Non-Restructuring Charges   46 35 2,097 127  
Total Realignment Charges   17        
Total Realignment Program Charges     35 10,973 127  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   (29) 0 8,876 0  
Selling, general and administrative expense ("SG&A") | Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1 0 1 0  
Non-Restructuring Charges   7,427 27 13,148 (266)  
Total Realignment Charges   7,428        
Total Realignment Program Charges     27 13,149 (266)  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1 0 1 0  
Selling, general and administrative expense ("SG&A") | Severance            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (5) 0 0 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   (5) 0 0 0  
Selling, general and administrative expense ("SG&A") | Contract Termination            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   0 0 0 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   0 0 0 0  
Selling, general and administrative expense ("SG&A") | Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (29) 0 8,871 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   (29) 0 8,871 0  
Selling, general and administrative expense ("SG&A") | Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   6 0 6 0  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   6 0 6 0  
FPD            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1,410 604 398 885  
Non-Restructuring Charges   (440) (223) 3,012 (512)  
Total Realignment Charges   970        
Total Realignment Program Charges     381 3,410 373  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1,410 604 398 885  
FPD | Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   1,410 604 398 885  
Non-Restructuring Charges   (457) (225) 945 (589)  
Total Realignment Charges   953        
Total Realignment Program Charges     379 1,343 296  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   1,410 604 398 885  
FPD | Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   0 0 0 0  
Non-Restructuring Charges   17 2 2,067 77  
Total Realignment Charges   17        
Total Realignment Program Charges     2 2,067 77  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   0 0 0 0  
FCD            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (29) 76 8,876 71  
Non-Restructuring Charges   3,182 45 3,194 13  
Total Realignment Charges   3,153        
Total Realignment Program Charges     121 12,070 84  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   (29) 76 8,876 71  
FCD | Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   0 76 0 71  
Non-Restructuring Charges   3,153 12 3,164 (37)  
Total Realignment Charges   3,153        
Total Realignment Program Charges     88 3,164 34  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   0 76 0 71  
FCD | Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges   (29) 0 8,876 0  
Non-Restructuring Charges   29 33 30 50  
Total Realignment Charges   0        
Total Realignment Program Charges     33 8,906 50  
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments   $ (29) $ 0 $ 8,876 $ 0  
2020 Realignment Program            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           $ 9,341
Non-Restructuring Charges           19,089
Total Realignment Charges           28,430
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           9,341
2020 Realignment Program | Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           9,274
Non-Restructuring Charges           6,206
Total Realignment Charges           15,480
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           9,274
2020 Realignment Program | Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           67
Non-Restructuring Charges           12,883
Total Realignment Charges           12,950
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           67
2020 Realignment Program | Severance            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           441
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           441
2020 Realignment Program | Contract Termination            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           294
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           294
2020 Realignment Program | Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           7,601
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           7,601
2020 Realignment Program | Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           1,005
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           1,005
2020 Realignment Program | Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           464
Non-Restructuring Charges           3,844
Total Realignment Charges           4,308
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           464
2020 Realignment Program | Cost of sales ("COS") | Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           398
Non-Restructuring Charges           4,109
Total Realignment Charges           4,507
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           398
2020 Realignment Program | Cost of sales ("COS") | Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           66
Non-Restructuring Charges           (265)
Total Realignment Charges           (199)
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           66
2020 Realignment Program | Cost of sales ("COS") | Severance            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           441
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           441
2020 Realignment Program | Cost of sales ("COS") | Contract Termination            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           294
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           294
2020 Realignment Program | Cost of sales ("COS") | Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           (1,270)
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           (1,270)
2020 Realignment Program | Cost of sales ("COS") | Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           999
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           999
2020 Realignment Program | Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           8,877
Non-Restructuring Charges           15,245
Total Realignment Charges           24,122
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           8,877
2020 Realignment Program | Selling, general and administrative expense ("SG&A") | Subtotal–Reportable Segments            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           8,876
Non-Restructuring Charges           2,097
Total Realignment Charges           10,973
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           8,876
2020 Realignment Program | Selling, general and administrative expense ("SG&A") | Eliminations and All Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           1
Non-Restructuring Charges           13,148
Total Realignment Charges           13,149
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           1
2020 Realignment Program | Selling, general and administrative expense ("SG&A") | Severance            
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 ("SG&A") | 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 ("SG&A") | Asset Write-Downs            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           8,871
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           8,871
2020 Realignment Program | Selling, general and administrative expense ("SG&A") | Other            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           6
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           6
2020 Realignment Program | FPD            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           398
Non-Restructuring Charges           3,012
Total Realignment Charges           3,410
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           398
2020 Realignment Program | FPD | Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           398
Non-Restructuring Charges           945
Total Realignment Charges           1,343
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           398
2020 Realignment Program | FPD | Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           0
Non-Restructuring Charges           2,067
Total Realignment Charges           2,067
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           0
2020 Realignment Program | FCD            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           8,876
Non-Restructuring Charges           3,194
Total Realignment Charges           12,070
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           8,876
2020 Realignment Program | FCD | Cost of sales ("COS")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           0
Non-Restructuring Charges           3,164
Total Realignment Charges           3,164
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           0
2020 Realignment Program | FCD | Selling, general and administrative expense ("SG&A")            
Restructuring Cost and Reserve [Line Items]            
Restructuring Charges           8,876
Non-Restructuring Charges           30
Total Realignment Charges           8,906
Restructuring Reserve [Roll Forward]            
Charges, net of adjustments           $ 8,876
2023 Realignment Program            
Restructuring Cost and Reserve [Line Items]            
Total Realignment Charges $ 40,000          
Total realignment charges, noncash 13,000          
Restructuring Reserve [Roll Forward]            
Cost reduction amount $ 50,000