Additional Balance Sheet and Cash Flow Information - Property, Plant and Equipment, at Cost (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment
Property, plant and equipment, gross	$ 2,954,825	$ 2,884,948
Accumulated depreciation	(2,223,101)	(2,195,062)
Total property, plant and equipment, net	731,724	689,886
Land and related improvements
Property, Plant and Equipment
Property, plant and equipment, gross	66,939	71,360
Buildings and related improvements
Property, Plant and Equipment
Property, plant and equipment, gross	431,215	411,859
Machinery and equipment
Property, Plant and Equipment
Property, plant and equipment, gross	1,491,448	1,507,224
Software
Property, Plant and Equipment
Property, plant and equipment, gross	722,213	705,013
Total property, plant and equipment, net	75,300	59,200
Construction in progress
Property, Plant and Equipment
Property, plant and equipment, gross	$ 243,010	$ 189,492