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Property, Plant and Equipment - Additional Information (Details)
€ in Millions
 12 Months Ended
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2021
EUR (€)
Dec. 31, 2020
USD ($)
Property, Plant and Equipment [Line Items]        
Depreciation expense $ 46,700,000 $ 43,900,000   $ 39,300,000
Proceeds from sale of real estate 42,200,000      
Gain on sale of real estate 37,900,000      
Asset impairments 0 140,461,000   113,007,000
Impairment   1,664,000    
Asset impairments $ 0 9,283,000   $ 0
Industrial Automation Solutions        
Property, Plant and Equipment [Line Items]        
Impairment   1,664,000    
Asset impairments   3,600,000    
Germany        
Property, Plant and Equipment [Line Items]        
Proceeds from sale and leaseback transaction   27,800,000 € 24.5  
Loss on sale and leaseback transaction   $ 600,000    
Sale and leaseback transaction, term of contract 10 years 10 years    
Sales and leaseback transaction, right-of-use asset $ 21,700,000 $ 25,300,000    
Asset impairments   2,300,000    
Brazil        
Property, Plant and Equipment [Line Items]        
Asset impairments   3,400,000    
Impairment   1,700,000    
Impairment of intangible assets   $ 1,000,000