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Financial Instruments - Narrative (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
country
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Feb. 28, 2023
USD ($)
Guarantor Obligations [Line Items]        
Derivatives liability resulted from netting arrangement $ (100,000) $ (900,000)    
Pre-tax gains (losses) 2,600,000 2,700,000 $ 400,000  
Fair value of long-term debt 1,227,600,000 1,394,200,000    
Long-term Debt, Gross 1,364,161,000 $ 1,387,889,000    
Term Loan        
Guarantor Obligations [Line Items]        
Principle amount $ 200,000,000      
Term Loan | Subsequent Event        
Guarantor Obligations [Line Items]        
Principle amount       $ 300,000,000
LIBOR | Fixed-Rate Term Loan | Term Loan        
Guarantor Obligations [Line Items]        
Basis spread on variable rate 3.12% 2.71%    
Foreign currency exchange forward contracts        
Guarantor Obligations [Line Items]        
Notional amounts $ 573,800,000 $ 425,800,000    
Minimum        
Guarantor Obligations [Line Items]        
Number of countries in which entity has currency exposures | country 30      
Minimum | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Fixed-Rate Term Loan | Term Loan        
Guarantor Obligations [Line Items]        
Basis spread on variable rate 4.16%      
Maximum | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Fixed-Rate Term Loan | Term Loan        
Guarantor Obligations [Line Items]        
Basis spread on variable rate 4.21%      
Stand by letters of credit, bonds and bank guarantees        
Guarantor Obligations [Line Items]        
Contingent liability outstanding $ 500,400,000 519,400,000 $ 410,600,000  
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) 0.20%      
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) 3.00%      
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 $ 0 $ 0