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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)