Employee Benefit Plans - Plan Assumptions (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net periodic benefit cost for the years ended December 31:
Healthcare cost trend rate assumed for next year	6.50%	6.00%
Rate that the cost trend rate gradually declines to	5.00%	5.00%
Pension | U.S.
Benefit obligations as of December 31:
Discount rate	5.65%	2.98%	2.60%
Rate of compensation increase	3.00%	2.75%	2.75%
Interest crediting rates for cash balance plan, year one	3.25%	2.45%	2.44%
Interest crediting rates for cash balance plan, year two	4.25%	2.56%	2.25%
Interest crediting rates for cash balance plan, year three	4.25%	2.56%	2.25%
Interest crediting rates for cash balance plan, year four	3.65%	2.83%	2.65%
Interest crediting rates for cash balance plan, year five		2.83%	2.65%
Interest crediting rates for cash balance plan, year six			2.65%
Net periodic benefit cost for the years ended December 31:
Discount rate	2.98%	2.60%	3.32%
Expected return on plan assets	4.30%	5.39%	5.94%
Rate of compensation increase	2.75%	2.75%	2.75%
Interest crediting rates for cash balance plan	3.25%	2.45%	2.44%
Pension | United Kingdom
Benefit obligations as of December 31:
Discount rate	4.80%	1.95%	1.40%
Rate of compensation increase	3.20%	3.45%	3.05%
Rate of future price inflation	2.95%	2.95%	2.55%
Net periodic benefit cost for the years ended December 31:
Discount rate	1.95%	1.40%	2.10%
Expected return on plan assets	4.40%	4.85%	5.00%
Rate of compensation increase	3.45%	3.05%	3.30%
Rate of future price inflation	2.95%	2.55%	2.80%
Other Postretirement
Benefit obligations as of December 31:
Discount rate	4.54%	2.95%	2.59%
Net periodic benefit cost for the years ended December 31:
Discount rate	2.95%	2.59%	3.24%
Expected return on plan assets	4.20%	3.35%	5.42%