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Legal Matters and Contingencies - Asbestos Liability (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Liability for Asbestos and Environmental Claims, Net [Roll Forward]      
Beginning balance, January 1, $ 98,652 $ 94,423 $ 99,530
Asbestos liability adjustments, net 22,237 14,782 4,783
Cash payment activity (12,589) (5,733) (7,521)
Other, net (5,397) (4,820) (2,369)
Ending balance, December 31, $ 102,903 $ 98,652 $ 94,423