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Legal Matters and Contingencies - Estimated Asbestos Liability (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Liability for Asbestos and Environmental Claims, Net [Roll Forward]    
Beginning balance, January 1, $ 98,652 $ 94,423
Asbestos liability adjustments, net 2,394 0
Cash payment activity (8,016) (2,460)
Other, net (2,677) (1,819)
Ending balance, June 30, $ 90,353 $ 90,144