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Realignment and Transformation Programs (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended | 45 Months Ended
--- | --- | --- | ---
May 01, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | $ 66,037 | $ (165) | $ 22,491 |
Restructuring Charges |  | 19,260 | 857 | 9,513 | $ 19,260
Non-Restructuring Charges |  | 46,777 | (1,022) | 12,978 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Beginning Balance |  | 965 | 4,868 |  |
Charges |  | 19,260 | 857 | 9,513 | 19,260
Ending Balance |  | 8,184 | 965 | 4,868 | 4,868
Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 47,299 | 170 | 17,988 |
Restructuring Charges |  | 19,194 | 857 | 9,513 |
Non-Restructuring Charges |  | 28,105 | (687) | 8,475 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 19,194 | 857 | 9,513 |
All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 18,738 | (335) | 4,503 |
Restructuring Charges |  | 66 | 0 | 0 |
Non-Restructuring Charges |  | 18,672 | (335) | 4,503 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 66 | 0 | 0 |
Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 19,260
Non-Restructuring Charges |  |  |  |  | 46,777
Total Realignment Charges |  |  |  |  | 66,037
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 19,260
Realignment Programs, 2020 | Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 19,194
Non-Restructuring Charges |  |  |  |  | 28,105
Total Realignment Charges |  |  |  |  | 47,299
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 19,194
Realignment Programs, 2020 | All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 66
Non-Restructuring Charges |  |  |  |  | 18,672
Total Realignment Charges |  |  |  |  | 18,738
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 66
2023 Realignment Program |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Cost reduction amount | $ 50,000 |  |  |  |
Total Realignment Charges | 87,000 |  |  |  |
Realignment and transformation charges (benefits) | $ 17,000 |  |  |  |
FPD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 25,330 | 386 | 15,282 |
Restructuring Charges |  | 3,012 | 768 | 8,711 |
Non-Restructuring Charges |  | 22,318 | (382) | 6,571 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 3,012 | 768 | 8,711 |
FPD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 3,012
Non-Restructuring Charges |  |  |  |  | 22,318
Total Realignment Charges |  |  |  |  | 25,330
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 3,012
FCD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 21,969 | (216) | 2,706 |
Restructuring Charges |  | 16,182 | 89 | 802 |
Non-Restructuring Charges |  | 5,787 | (305) | 1,904 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 16,182 | 89 | 802 |
FCD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 16,182
Non-Restructuring Charges |  |  |  |  | 5,787
Total Realignment Charges |  |  |  |  | 21,969
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 16,182
Cost of Sales |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 21,012 | 356 | 16,846 |
Restructuring Charges |  | 9,433 | 861 | 8,857 | 9,433
Non-Restructuring Charges |  | 11,579 | (505) | 7,989 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,433 | 861 | 8,857 | 9,433
Cost of Sales | Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 21,373 | 417 | 16,256 |
Restructuring Charges |  | 9,367 | 861 | 8,857 |
Non-Restructuring Charges |  | 12,006 | (444) | 7,399 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,367 | 861 | 8,857 |
Cost of Sales | All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | (361) | (61) | 590 |
Restructuring Charges |  | 66 | 0 | 0 |
Non-Restructuring Charges |  | (427) | (61) | 590 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 66 | 0 | 0 |
Cost of Sales | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 9,433
Non-Restructuring Charges |  |  |  |  | 11,579
Total Realignment Charges |  |  |  |  | 21,012
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 9,433
Cost of Sales | Realignment Programs, 2020 | Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 21,373
Cost of Sales | Realignment Programs, 2020 | All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | (361)
Cost of Sales | FPD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 10,797 | 238 | 14,249 |
Restructuring Charges |  | 2,962 | 768 | 8,046 |
Non-Restructuring Charges |  | 7,835 | (530) | 6,203 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 2,962 | 768 | 8,046 |
Cost of Sales | FPD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 10,797
Cost of Sales | FCD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 10,576 | 179 | 2,007 |
Restructuring Charges |  | 6,405 | 93 | 811 |
Non-Restructuring Charges |  | 4,171 | 86 | 1,196 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 6,405 | 93 | 811 |
Cost of Sales | FCD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 10,576
Selling, general and administrative expense ("SG&A") |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 45,025 | (521) | 5,645 |
Restructuring Charges |  | 9,827 | (4) | 656 | 9,827
Non-Restructuring Charges |  | 35,198 | (517) | 4,989 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,827 | (4) | 656 | 9,827
Selling, general and administrative expense ("SG&A") | Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 25,926 | (247) | 1,732 |
Restructuring Charges |  | 9,827 | (4) | 656 |
Non-Restructuring Charges |  | 16,099 | (243) | 1,076 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,827 | (4) | 656 |
Selling, general and administrative expense ("SG&A") | All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 19,099 | (274) | 3,913 |
Restructuring Charges |  | 0 | 0 | 0 |
Non-Restructuring Charges |  | 19,099 | (274) | 3,913 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 0 | 0 | 0 |
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  |  |  |  | 9,827
Non-Restructuring Charges |  |  |  |  | 35,198
Total Realignment Charges |  |  |  |  | 45,025
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  |  |  |  | 9,827
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020 | Subtotal—Reportable Segments |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 25,926
Selling, general and administrative expense ("SG&A") | Realignment Programs, 2020 | All Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 19,099
Selling, general and administrative expense ("SG&A") | FPD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 14,533 | 148 | 1,033 |
Restructuring Charges |  | 50 | 0 | 665 |
Non-Restructuring Charges |  | 14,483 | 148 | 368 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 50 | 0 | 665 |
Selling, general and administrative expense ("SG&A") | FPD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 14,533
Selling, general and administrative expense ("SG&A") | FCD |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  | 11,393 | (395) | 699 |
Restructuring Charges |  | 9,777 | (4) | (9) |
Non-Restructuring Charges |  | 1,616 | (391) | 708 |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,777 | (4) | (9) |
Selling, general and administrative expense ("SG&A") | FCD | Realignment Programs, 2020 |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Total Realignment Charges |  |  |  |  | 11,393
Severance |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 8,035 | 118 | 1,131 | 8,035
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 8,035 | 118 | 1,131 | 8,035
Severance | Cost of Sales |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 7,085 | 122 | 964 | 7,085
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 7,085 | 122 | 964 | 7,085
Severance | Selling, general and administrative expense ("SG&A") |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 950 | (4) | 167 | 950
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 950 | (4) | 167 | 950
Contract Termination |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 301 | 327 | 34 | 301
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 301 | 327 | 34 | 301
Contract Termination | Cost of Sales |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 301 | 327 | 34 | 301
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 301 | 327 | 34 | 301
Contract Termination | Selling, general and administrative expense ("SG&A") |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 0 | 0 | 0 | 0
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 0 | 0 | 0 | 0
Asset Write-Downs |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 9,665 | 273 | 2,683 | 9,665
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,665 | 273 | 2,683 | 9,665
Asset Write-Downs | Cost of Sales |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 794 | 273 | 2,683 | 794
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 794 | 273 | 2,683 | 794
Asset Write-Downs | Selling, general and administrative expense ("SG&A") |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 8,871 | 0 | 0 | 8,871
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 8,871 | 0 | 0 | 8,871
Other |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 1,259 | 139 | 5,665 | 1,259
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 1,259 | 139 | 5,665 | 1,259
Other | Cost of Sales |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 1,253 | 139 | 5,176 | 1,253
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 1,253 | 139 | 5,176 | 1,253
Other | Selling, general and administrative expense ("SG&A") |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 6 | 0 | 489 | 6
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 6 | 0 | $ 489 | $ 6
Charges Expected to be Settled in Cash |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |
Restructuring Charges |  | 9,594 | 584 |  |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Charges |  | 9,594 | 584 |  |
Restructuring Cash Payment |  |  |  |  |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Cash expenditures |  | (2,110) | (3,518) |  |
Other Non-Cash Adjustments |  |  |  |  |
Restructuring Reserve [Roll Forward] |  |  |  |  |
Other non-cash adjustments, including currency |  | $ (265) | $ (969) |  |

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