Defined Benefit Plans Key Economic Assumptions (Details) - Pension Plan |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Defined Benefit Plan Disclosure [Line Items] | |||
| Weighted-average discount rate for all plans, benefit obligation | 1.50% | 2.20% | |
| Weighted-average rate of increase in compensation levels for active plans, benefit obligation | 1.50% | 1.50% | |
| Weighted-average discount rate, net periodic benefit costs | 2.10% | 1.70% | 1.70% |
| Weighted-average expected return on plan assets, net periodic benefit cost | 3.50% | 4.30% | 5.20% |
| Weighted-average rate of increase in compensation levels for active plans | 1.50% | 1.70% | 0.60% |
| Foreign Plan | |||
| Defined Benefit Plan Disclosure [Line Items] | |||
| Weighted-average discount rate, net periodic benefit costs | 1.20% | 1.40% | |
| Weighted-average expected return on plan assets, net periodic benefit cost | 2.80% | 3.60% | |