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Restructuring Charges - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
May 04, 2020
Restructuring Cost and Reserve [Line Items]      
Non-manufacturing workforce reduction commitment, percentage     4.00%
Optimizing for Growth      
Restructuring Cost and Reserve [Line Items]      
Cumulative severance and other restructuring charges $ 51,000    
Cumulative severance and other restructuring charges, non-cash 15,000    
Severance and other restructuring costs 12,901 $ 37,571  
Optimizing for Growth | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs 140,000    
Restructuring and related cost, expected cost, non-cash 40,000    
Optimizing for Growth | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs 165,000    
Restructuring and related cost, expected cost, non-cash 45,000    
Structural Simplification Cost Savings Program      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs $ 9,000