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Restructuring Charges - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Severance      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs $ 3,400    
Optimizing for Growth      
Restructuring Cost and Reserve [Line Items]      
Cumulative severance and other restructuring charges   $ 196,000  
Cumulative severance and other restructuring charges, non-cash   73,000  
Severance and other restructuring costs 31,026 34,277 $ 35,151
Optimizing for Growth | Severance      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs 22,030 14,729  
Optimizing for Growth | Mexico | Land and buildings      
Restructuring Cost and Reserve [Line Items]      
Gain on disposal of property, plant, and equipment     $ 15,800
Optimizing for Growth | Other non-operating income/expense, net      
Restructuring Cost and Reserve [Line Items]      
Cumulative severance and other restructuring charges   $ 45,400  
Optimizing for Profitable Growth      
Restructuring Cost and Reserve [Line Items]      
Restructuring and related cost, expected cost, non-cash 5,000    
Optimizing for Profitable Growth | Minimum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs 130,000    
Optimizing for Profitable Growth | Maximum      
Restructuring Cost and Reserve [Line Items]      
Expected restructuring costs 165,000    
Optimizing for Profitable Growth | Severance      
Restructuring Cost and Reserve [Line Items]      
Severance and other restructuring costs $ 25,296