Income Tax Returns to be Reviewed (Details)	12 Months Ended
	Dec. 31, 2023
UNITED STATES
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2019
CANADA
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2017
UNITED KINGDOM
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2021
GERMANY
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2017
Czech Republic
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2021
CHINA
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2013
JAPAN
Income Tax Examination [Line Items]
Income tax returns to be reviewed	2018