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Restructuring Activities - Severance, Restructuring and Integration Costs by Segment (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Severance | $ 8,854 | $ 1,563 | $ 3,676
Restructuring and Integration Costs | 9,800 | 14,907 | 14,691
Total Costs | 18,654 | 16,470 | 18,367
Enterprise Solutions |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance | 4,180 | 1,070 | 1,121
Restructuring and Integration Costs | 5,948 | 7,060 | 11,062
Total Costs | 10,128 | 8,130 | 12,183
Industrial Automation Solutions |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance | 4,674 | 493 | 2,555
Restructuring and Integration Costs | 3,852 | 7,847 | 3,629
Total Costs | $ 8,526 | $ 8,340 | $ 6,184

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