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Pension and Other Postretirement Benefit Plans - Weighted Average Actuarial Assumptions Used (Details) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Foreign plans |  |  |
Weighted average actuarial assumptions used in determining the benefit obligations |  |  |
Rate of compensation increase | 3.30% | 3.70% |
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit) |  |  |
Rate of compensation increase | 3.70% | 3.40% | 3.30%
Pension | Domestic plans |  |  |
Weighted average actuarial assumptions used in determining the benefit obligations |  |  |
Discount rate | 2.60% | 3.40% |
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit) |  |  |
Discount rate | 3.40% | 4.30% | 3.60%
Expected return on plan assets | 5.80% | 6.30% | 6.50%
Pension | Foreign plans |  |  |
Weighted average actuarial assumptions used in determining the benefit obligations |  |  |
Discount rate | 2.00% | 2.60% |
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit) |  |  |
Discount rate | 2.60% | 3.40% | 3.10%
Expected return on plan assets | 5.40% | 5.90% | 5.90%
Other Postretirement | Domestic plans |  |  |
Weighted average actuarial assumptions used in determining the benefit obligations |  |  |
Discount rate | 2.40% | 3.20% |
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit) |  |  |
Discount rate | 3.20% | 4.20% | 3.50%
Other Postretirement | Foreign plans |  |  |
Weighted average actuarial assumptions used in determining the benefit obligations |  |  |
Discount rate | 2.50% | 3.10% |
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit) |  |  |
Discount rate | 3.10% | 3.80% | 3.50%

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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(2) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(3) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2919-114920 + Details
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- Definition Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(2) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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