Restructuring Expected Costs - Restructuring Reserve by Type of Cost (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring	$ 198
2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	51,511
Restructuring and Related Cost, Cost Incurred to Date		$ 48,528
Restructuring	533
Restructuring and Related Cost, Expected Cost Remaining	2,450
2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	48,244
Restructuring and Related Cost, Cost Incurred to Date		46,929
Restructuring	(335)
Restructuring and Related Cost, Expected Cost Remaining	1,650
Employee Severance [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring	(694)
Employee Severance [Member] | 2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	42,803
Restructuring and Related Cost, Cost Incurred to Date		43,347
Restructuring	(544)
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	34,671
Restructuring and Related Cost, Cost Incurred to Date		34,821
Restructuring	(150)
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	(194)
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	1,169
Restructuring and Related Cost, Cost Incurred to Date		1,130
Restructuring	39
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	8,146
Restructuring and Related Cost, Cost Incurred to Date		8,379
Restructuring	(233)
Restructuring and Related Cost, Expected Cost Remaining	0
Other Restructuring [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring	1,086
Other Restructuring [Member] | 2023 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	7,539
Restructuring and Related Cost, Cost Incurred to Date		4,051
Restructuring	1,038
Restructuring and Related Cost, Expected Cost Remaining	2,450
Other Restructuring [Member] | 2021 Projects
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost	5,427
Restructuring and Related Cost, Cost Incurred to Date		$ 3,729
Restructuring	48
Restructuring and Related Cost, Expected Cost Remaining	$ 1,650