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Realignment Programs (Details) - USD ($)
$ in Thousands
 1 Months Ended 3 Months Ended 24 Months Ended
May 01, 2023
Mar. 31, 2024
Mar. 31, 2023
Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   $ 7,167    
Restructuring Charges   5,130 $ 7,959  
Non-Restructuring Charges   2,037 8,920  
Total Realignment Program Charges     16,879  
Restructuring Reserve [Roll Forward]        
Beginning Balance $ 1,038 8,184 965  
Charges, net of adjustments   5,130 7,959  
Cash expenditures   (387) (234)  
Other non-cash adjustments, including currency   (849) (55)  
Ending Balance   12,078 1,038  
Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   6,966    
Restructuring Charges   5,130 7,893  
Non-Restructuring Charges   1,836 3,464  
Total Realignment Program Charges     11,357  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   5,130 7,893  
Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   201    
Restructuring Charges   0 66  
Non-Restructuring Charges   201 5,456  
Total Realignment Program Charges     5,522  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 66  
Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   4,686 191  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   4,686 191  
Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 66  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 66  
Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 7,597  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 7,597  
Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   444 105  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   444 105  
Charges Expected to be Settled in Cash        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   5,130 362  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   5,130 362  
COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   5,673    
Restructuring Charges   4,429 (946)  
Non-Restructuring Charges   1,244 1,148  
Total Realignment Program Charges     202  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   4,429 (946)  
COS | Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   5,811    
Restructuring Charges   4,429 (1,012)  
Non-Restructuring Charges   1,382 1,413  
Total Realignment Program Charges     401  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   4,429 (1,012)  
COS | Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   (138)    
Restructuring Charges   0 66  
Non-Restructuring Charges   (138) (265)  
Total Realignment Program Charges     (199)  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 66  
COS | Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   3,985 186  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   3,985 186  
COS | Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 66  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 66  
COS | Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 (1,303)  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 (1,303)  
COS | Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   444 105  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   444 105  
SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   1,494    
Restructuring Charges   701 8,905  
Non-Restructuring Charges   793 7,772  
Total Realignment Program Charges     16,677  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   701 8,905  
SG&A | Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   1,155    
Restructuring Charges   701 8,905  
Non-Restructuring Charges   454 2,051  
Total Realignment Program Charges     10,956  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   701 8,905  
SG&A | Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   339    
Restructuring Charges   0 0  
Non-Restructuring Charges   339 5,721  
Total Realignment Program Charges     5,721  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 0  
SG&A | Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   701 5  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   701 5  
SG&A | Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 0  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 0  
SG&A | Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 8,900  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 8,900  
SG&A | Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges   0 0  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   0 0  
FPD        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   6,085    
Restructuring Charges   5,115 (1,012)  
Non-Restructuring Charges   970 3,452  
Total Realignment Program Charges     2,440  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   5,115 (1,012)  
FPD | COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   5,044    
Restructuring Charges   4,414 (1,012)  
Non-Restructuring Charges   630 1,402  
Total Realignment Program Charges     390  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   4,414 (1,012)  
FPD | SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   1,041    
Restructuring Charges   701 0  
Non-Restructuring Charges   340 2,050  
Total Realignment Program Charges     2,050  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   701 0  
FCD        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   881    
Restructuring Charges   15 8,905  
Non-Restructuring Charges   866 12  
Total Realignment Program Charges     8,917  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   15 8,905  
FCD | COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   767    
Restructuring Charges   15 0  
Non-Restructuring Charges   752 11  
Total Realignment Program Charges     11  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   15 0  
FCD | SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges   114    
Restructuring Charges   0 8,905  
Non-Restructuring Charges   114 1  
Total Realignment Program Charges     8,906  
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments   $ 0 $ 8,905  
2020 Realignment Program        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       $ 73,204
Restructuring Charges       24,390
Non-Restructuring Charges       48,814
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       24,390
2020 Realignment Program | Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       54,265
Restructuring Charges       24,324
Non-Restructuring Charges       29,941
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       24,324
2020 Realignment Program | Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       18,939
Restructuring Charges       66
Non-Restructuring Charges       18,873
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       66
2020 Realignment Program | Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       12,721
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       12,721
2020 Realignment Program | Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       301
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       301
2020 Realignment Program | Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       9,665
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       9,665
2020 Realignment Program | Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       1,703
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       1,703
2020 Realignment Program | COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       26,685
Restructuring Charges       13,862
Non-Restructuring Charges       12,823
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       13,862
2020 Realignment Program | COS | Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       27,184
Restructuring Charges       13,796
Non-Restructuring Charges       13,388
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       13,796
2020 Realignment Program | COS | Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       (499)
Restructuring Charges       66
Non-Restructuring Charges       (565)
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       66
2020 Realignment Program | COS | Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       11,070
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       11,070
2020 Realignment Program | COS | Contract Termination        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       301
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       301
2020 Realignment Program | COS | Asset Write-Downs        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       794
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       794
2020 Realignment Program | COS | Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       1,697
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       1,697
2020 Realignment Program | SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       46,519
Restructuring Charges       10,528
Non-Restructuring Charges       35,991
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       10,528
2020 Realignment Program | SG&A | Subtotal–Reportable Segments        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       27,081
Restructuring Charges       10,528
Non-Restructuring Charges       16,553
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       10,528
2020 Realignment Program | SG&A | Eliminations and All Other        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       19,438
Restructuring Charges       0
Non-Restructuring Charges       19,438
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       0
2020 Realignment Program | SG&A | Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring Charges       1,651
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       1,651
2020 Realignment Program | 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 | 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 | 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]        
Total Realignment Charges       31,415
Restructuring Charges       8,127
Non-Restructuring Charges       23,288
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       8,127
2020 Realignment Program | FPD | COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       15,841
Restructuring Charges       7,376
Non-Restructuring Charges       8,465
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       7,376
2020 Realignment Program | FPD | SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       15,574
Restructuring Charges       751
Non-Restructuring Charges       14,823
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       751
2020 Realignment Program | FCD        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       22,850
Restructuring Charges       16,197
Non-Restructuring Charges       6,653
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       16,197
2020 Realignment Program | FCD | COS        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       11,343
Restructuring Charges       6,420
Non-Restructuring Charges       4,923
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       6,420
2020 Realignment Program | FCD | SG&A        
Restructuring Cost and Reserve [Line Items]        
Total Realignment Charges       11,507
Restructuring Charges       9,777
Non-Restructuring Charges       1,730
Restructuring Reserve [Roll Forward]        
Charges, net of adjustments       $ 9,777
2023 Realignment Program        
Restructuring Cost and Reserve [Line Items]        
Cost reduction amount 50,000      
Total Realignment Charges 100,000      
Non-cash realignment $ 18,000