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Retirement Benefit Plans - Weighted-average Assumptions Used (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Postretirement Medical Benefits      
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]      
Discount rate 5.06% 5.37%  
Rate of compensation increase 0.00% 0.00%  
Discount rate 5.37% 2.53% 2.07%
Expected long-term rate of return on plan assets 0.00% 0.00% 0.00%
Rate of compensation increase 0.00% 0.00% 0.00%
UNITED STATES      
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]      
Discount rate 5.07% 5.37%  
Rate of compensation increase 0.00% 0.00%  
Discount rate 5.37% 2.54% 2.06%
Expected long-term rate of return on plan assets 0.00% 0.00% 0.00%
Rate of compensation increase 0.00% 0.00% 0.00%
Non-U.S. Plan | Pension Plan      
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]      
Discount rate 4.26% 1.05%  
Rate of compensation increase 3.00% 2.25%  
Discount rate 4.68% 1.55% 1.05%
Expected long-term rate of return on plan assets 6.10% 3.20% 2.70%
Rate of compensation increase 2.25% 1.50% 0.00%