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Property, Plant and Equipment - Additional Information (Details) € in Millions, $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) | Dec. 31, 2023 CAD ($) | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2021 EUR (€)
Property, Plant and Equipment [Line Items] |  |  |  |  |
Depreciation expense | $ 51,400,000 |  | $ 46,700,000 | $ 43,900,000 |
Proceeds from sale of real estate |  |  | 42,200,000 |  |
Gain on sale of real estate |  |  | 37,900,000 |  |
Asset impairment charges | 0 |  | 0 | 140,461,000 |
Asset impairments | 0 |  | 0 | 9,283,000 |
Industrial Automation Solutions |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Asset impairments |  |  |  | 3,600,000 |
Canada |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Proceeds from sale and leaseback transaction | 13,800,000 | $ 18.6 |  |  |
Gain (loss) on sale and leaseback transaction | $ 12,100,000 |  |  |  |
Sale and leaseback transaction, term of contract | 10 years |  |  |  |
Sales and leaseback transaction, right-of-use asset | $ 10,100,000 |  |  |  |
Germany |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Proceeds from sale and leaseback transaction |  |  |  | 27,800,000 | € 24.5
Gain (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 | $ 20,500,000 |  | $ 21,700,000 |  |
Asset impairment charges |  |  |  | $ 2,300,000 |
Brazil |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Asset impairment charges |  |  |  | 3,400,000 |
Goodwill impairment loss |  |  |  | 1,700,000 |
Impairment of intangible assets |  |  |  | $ 1,000,000 |

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