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Sale of Business - Narrative (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Nov. 02, 2021
USD ($)
Jun. 25, 2020
USD ($)
numberOfSubsidiaries
Mar. 31, 2022
USD ($)
Mar. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Net proceeds (payments) related to the sale of businesses           $ (772) $ 55,933 $ 3,142
Actuarial gain (loss)           1,682 (23,682)  
Loss on sale of businesses           667 3,505 64,289
Loss on sale of businesses           667 3,505 64,289
Discontinued Operations, Disposed of by Sale                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Disposal group, not discontinued operation, loss (gain) on write-down               (34,400)
Loss on sale of businesses             3,500 64,300
Dresser                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Disposal Group, Including Discontinued Operation, Consideration             75,000  
Accumulated other comprehensive loss, foreign currency translation adjustment, net of tax $ 59,700              
Actuarial gain (loss) $ 900              
Dresser | Discontinued Operations, Disposed of by Sale                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Net proceeds (payments) related to the sale of businesses             55,900  
Disposal group, not discontinued operation, loss (gain) on write-down               (3,100)
Loss on sale of businesses     $ 55,400       3,500  
Loss on sale of businesses           $ 700    
Accell                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Disposal Group, Including Discontinued, Interest Received             700  
Accell | Discontinued Operations, Disposed of by Sale                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                
Number of subsidiaries sold | numberOfSubsidiaries   5            
Disposal Group, Including Discontinued Operation, Sales Price   $ 35,000            
Working capital   $ 21,100   $ 18,400        
Cash outflow at closing         $ 4,500      
Payments received from disposal             $ 3,800  
Disposal Group, Including Discontinued Operation, Foreign Currency Translation Gains (Losses)               $ 26,800