Pension and Other Postretirement Benefits - Pension Plan Asset Weighted Average Asset Allocation (Details) - Pension Plan	Dec. 31, 2023	Dec. 31, 2022
U.S. Plans
Weighted average asset allocation
Weighted average asset allocation	100.00%	100.00%
U.S. Plans | Equity securities
Weighted average asset allocation
Weighted average asset allocation	12.00%	11.00%
U.S. Plans | Equity securities | Minimum
Plan assets
Plan assets allocation percentage	9.00%
U.S. Plans | Equity securities | Maximum
Plan assets
Plan assets allocation percentage	19.00%
U.S. Plans | Debt securities
Weighted average asset allocation
Weighted average asset allocation	86.00%	87.00%
U.S. Plans | Debt securities | Minimum
Plan assets
Plan assets allocation percentage	81.00%
U.S. Plans | Debt securities | Maximum
Plan assets
Plan assets allocation percentage	91.00%
U.S. Plans | Cash and other
Weighted average asset allocation
Weighted average asset allocation	2.00%	2.00%
Non-U.S. Plans
Weighted average asset allocation
Weighted average asset allocation	100.00%	100.00%
Non-U.S. Plans | Equity securities
Weighted average asset allocation
Weighted average asset allocation	8.00%	8.00%
Non-U.S. Plans | Debt securities
Weighted average asset allocation
Weighted average asset allocation	78.00%	77.00%
Non-U.S. Plans | Cash and other
Weighted average asset allocation
Weighted average asset allocation	14.00%	15.00%