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Profit Sharing, Retirement Savings Plans and Defined Benefit Pension Plans - Weighted Average Assumptions Used to Determine Net Periodic Benefit Cost (Details) - Pension Plan
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
U.S.      
Net periodic benefit cost      
Discount rate 5.50% 2.80% 2.40%
Expected long-term rate of return 6.70% 6.30% 6.30%
Cash balance interest credit rate 4.20% 1.60% 1.20%
International      
Net periodic benefit cost      
Discount rate 4.50% 1.90% 1.40%
Expected long-term rate of return 4.80% 3.10% 2.80%
Rate of compensation increase 2.50% 2.30% 2.30%
Cash balance interest credit rate 2.20% 1.10% 1.10%