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Retirement and Other Postretirement Benefit Plans - Schedule of Assumptions Used to Estimate the Actuarial Value of Benefit Obligations (Details) | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
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Defined Benefit Retirement Plans | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Rate of increase in compensation | 3.00% | 3.00% | 3.00%
Defined Benefit Retirement Plans | Minimum | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rates | 0.40% | 2.10% | 2.80%
Defined Benefit Retirement Plans | Minimum | European Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rates | 0.00% | 0.35% | 1.25%
Rate of increase in compensation | 2.75% | 2.75% | 2.75%
Expected long-term rates of return on plan assets | 1.45% | 2.00% | 2.00%
Defined Benefit Retirement Plans | Maximum | U.S. Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rates | 1.80% | 2.80% | 3.20%
Defined Benefit Retirement Plans | Maximum | European Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rates | 1.45% | 2.05% | 3.05%
Rate of increase in compensation | 3.00% | 3.00% | 3.00%
Expected long-term rates of return on plan assets | 3.00% | 3.20% | 4.75%
U.S. Postretirement Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Discount rates | 1.30% | 2.50% | 3.70%

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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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