Restructuring Expected Costs - Restructuring Reserve by Type of Cost (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring	$ 36,868
2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	45,642
Restructuring and Related Cost, Cost Incurred to Date		$ 0
Restructuring	41,207
Restructuring and Related Cost, Expected Cost Remaining	4,435
2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	48,669
Restructuring and Related Cost, Cost Incurred to Date		50,042
Restructuring	(3,423)
Restructuring and Related Cost, Expected Cost Remaining	2,050
2020 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	33,472
Restructuring and Related Cost, Cost Incurred to Date		34,188
Restructuring	(916)
Restructuring and Related Cost, Expected Cost Remaining	200
Employee Severance [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring	32,792
Employee Severance [Member] | 2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	38,004
Restructuring and Related Cost, Cost Incurred to Date		0
Restructuring	38,004
Restructuring and Related Cost, Expected Cost Remaining	0
Employee Severance [Member] | 2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	34,794
Restructuring and Related Cost, Cost Incurred to Date		38,359
Restructuring	(3,565)
Restructuring and Related Cost, Expected Cost Remaining	0
Employee Severance [Member] | 2020 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	18,735
Restructuring and Related Cost, Cost Incurred to Date		20,382
Restructuring	(1,647)
Restructuring and Related Cost, Expected Cost Remaining	0
Asset Impairment and Net (Gain) Loss on Sale or Disposal [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring	910
Asset Impairment and Net (Gain) Loss on Sale or Disposal [Member] | 2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	1,130
Restructuring and Related Cost, Cost Incurred to Date		0
Restructuring	1,130
Restructuring and Related Cost, Expected Cost Remaining	0
Asset Impairment and Net (Gain) Loss on Sale or Disposal [Member] | 2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	8,379
Restructuring and Related Cost, Cost Incurred to Date		8,599
Restructuring	(220)
Restructuring and Related Cost, Expected Cost Remaining	0
Asset Impairment and Net (Gain) Loss on Sale or Disposal [Member] | 2020 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	6,465
Restructuring and Related Cost, Cost Incurred to Date		6,465
Restructuring	0
Restructuring and Related Cost, Expected Cost Remaining	0
Other Restructuring [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring	3,166
Other Restructuring [Member] | 2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	6,508
Restructuring and Related Cost, Cost Incurred to Date		0
Restructuring	2,073
Restructuring and Related Cost, Expected Cost Remaining	4,435
Other Restructuring [Member] | 2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	5,496
Restructuring and Related Cost, Cost Incurred to Date		3,084
Restructuring	362
Restructuring and Related Cost, Expected Cost Remaining	2,050
Other Restructuring [Member] | 2020 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	8,272
Restructuring and Related Cost, Cost Incurred to Date		$ 7,341
Restructuring	731
Restructuring and Related Cost, Expected Cost Remaining	$ 200