Employee Benefit Plans - Plan Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net periodic benefit cost for the years ended December 31:
Healthcare cost trend rate assumed for next year	6.44%	6.50%
Rate that the cost trend rate gradually declines to	5.00%	5.00%
Pension | U.S.
Benefit obligations as of December 31:
Discount rate	5.36%	5.65%	2.98%
Rate of compensation increase	3.00%	3.00%	2.75%
Interest crediting rates for cash balance plan, year one	4.19%	3.25%	2.45%
Interest crediting rates for cash balance plan, year two	4.58%	4.25%	2.56%
Interest crediting rates for cash balance plan, year three	4.58%	4.25%	2.56%
Interest crediting rates for cash balance plan, year four	3.73%	3.65%	2.83%
Interest crediting rates for cash balance plan, year five		3.65%	2.83%
Interest crediting rates for cash balance plan, year six			2.83%
Net periodic benefit cost for the years ended December 31:
Discount rate	5.65%	2.98%	2.60%
Expected return on plan assets	6.10%	4.30%	5.39%
Rate of compensation increase	3.00%	2.75%	2.75%
Interest crediting rates for cash balance plan	4.19%	3.25%	2.45%
Pension | United Kingdom
Benefit obligations as of December 31:
Discount rate	4.55%	4.80%	1.95%
Rate of compensation increase	3.00%	3.20%	3.45%
Rate of future price inflation	2.75%	2.95%	2.95%
Net periodic benefit cost for the years ended December 31:
Discount rate	4.80%	1.95%	1.40%
Expected return on plan assets	6.00%	4.40%	4.85%
Rate of compensation increase	3.20%	3.45%	3.05%
Rate of future price inflation	2.95%	2.95%	2.55%
Other Postretirement
Benefit obligations as of December 31:
Discount rate	5.35%	4.54%	2.95%
Net periodic benefit cost for the years ended December 31:
Discount rate	5.58%	2.95%	2.59%
Expected return on plan assets	5.84%	4.20%	3.35%