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Pension and Postretirement Benefits - Weighted-Average Assumptions Used to Determine Benefit Obligations (Details) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019
Foreign Pension Plans |  |
Weighted-average assumptions used to determine benefit obligations |  |
Discount rate | 2.34% | 2.92%
Rate of compensation increase | 2.35% | 2.34%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract] |  |
Discount rate | 2.93% | 3.68%
Expected return on plan assets | 4.39% | 4.55%
Rate of compensation increase | 2.35% | 2.34%
Pension Plans | Domestic Plans | Funded Plans |  |
Weighted-average assumptions used to determine benefit obligations |  |
Discount rate | 2.38% | 3.15%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract] |  |
Discount rate | 3.12% | 4.28%
Expected return on plan assets | 5.50% | 5.50%
Pension Plans | Domestic Plans | Unfunded Pension Plans |  |
Weighted-average assumptions used to determine benefit obligations |  |
Discount rate | 2.35% | 3.13%
Rate of compensation increase | 3.00% | 3.00%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract] |  |
Discount rate | 3.13% | 4.22%
Rate of compensation increase | 3.00% | 3.00%
Postretirement Benefit Plans | Domestic Plans |  |
Weighted-average assumptions used to determine benefit obligations |  |
Discount rate | 2.47% | 3.17%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract] |  |
Discount rate |  | 4.29%
Expected return on plan assets |  | 0.00%
Postretirement Benefit Plans | Domestic Plans | Unfunded Pension Plans |  |
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract] |  |
Discount rate | 3.19% |
Expected return on plan assets | 0.00% |

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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(2) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(1) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (k)(3) -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=118255775&loc=d3e2919-114920 + Details
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