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Restructuring Charges - Cost and Expense Categories (Details) - Optimizing for Growth - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |  |
Severance and other restructuring costs | $ 34,277 | $ 35,151 | $ 12,901
Cost of sales |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance and other restructuring costs | 10,685 | 2,885 | 5,656
Other selling and administrative |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance and other restructuring costs | $ 23,592 | $ 32,266 | $ 7,245

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