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Restructuring Charges - Cost and Expense Categories (Details) - Optimizing for Growth - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs $ 31,026 $ 34,277 $ 35,151
Cost of sales      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs (1,276) 10,685 2,885
Other selling and administrative      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs $ 32,302 $ 23,592 $ 32,266