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Financial Instruments - Narrative (Details)
1 Months Ended 12 Months Ended
Jun. 30, 2019
USD ($)
Dec. 31, 2022
Dec. 31, 2021
USD ($)
country
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Guarantor Obligations [Line Items]          
Derivatives liability resulted from netting arrangement     $ 900,000    
Pre-tax gains (losses)     2,700,000 $ 400,000 $ 7,700,000
Repayments of Long-term Lines of Credit $ 2,800,000        
Fair value of long-term debt     1,394,200,000 1,324,900,000  
Long-term Debt, Gross     $ 1,387,889,000 1,300,532,000  
LIBOR | Fixed-Rate Term Loan | Term Loan          
Guarantor Obligations [Line Items]          
Basis spread on variable rate     2.71%    
Forecast | LIBOR | Fixed-Rate Term Loan | Term Loan          
Guarantor Obligations [Line Items]          
Basis spread on variable rate   3.12%      
Foreign currency exchange forward contracts          
Guarantor Obligations [Line Items]          
Notional amounts     $ 425,800,000 460,500,000  
Minimum          
Guarantor Obligations [Line Items]          
Number of countries in which entity has currency exposures | country     30    
Stand by letters of credit, bonds and bank guarantees          
Guarantor Obligations [Line Items]          
Contingent liability outstanding     $ 519,400,000 410,600,000 281,800,000
Guarantee term     2 years    
Stand by letters of credit, bonds and bank guarantees | Minimum          
Guarantor Obligations [Line Items]          
Guarantee term     1 year    
Fees paid to various banks and insurance companies on face amount of instruments (as a percent)     0.40%    
Stand by letters of credit, bonds and bank guarantees | Maximum          
Guarantor Obligations [Line Items]          
Guarantee term     5 years    
Fees paid to various banks and insurance companies on face amount of instruments (as a percent)     3.80%    
Indemnification Agreement          
Guarantor Obligations [Line Items]          
Recognition of potential future payment in the consolidated financial statements     $ 0    
Discontinued Operation, Gain (Loss) From Disposal Of Discontinued Operation [Member] | Interest rate swaps          
Guarantor Obligations [Line Items]          
Gain (Loss) on Discontinuation of Cash Flow Hedge Due to Forecasted Transaction Probable of Not Occurring, Net $ (2,700,000)   $ 0 $ (2,700,000) $ (2,741,000)