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Pension Plans and Similar Obligations - Actuarial Assumptions (Details)
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Other Foreign Post Employment Plans      
Pension Plans and Similar Obligations      
Discount rate 5.30% 5.50% 3.10%
Germany      
Pension Plans and Similar Obligations      
Discount rate 3.50% 4.20% 1.20%
Foreign Countries      
Pension Plans and Similar Obligations      
Discount rate 2.00% 2.60% 0.50%