Pension and Other Postretirement Benefit Plans - Weighted Average Actuarial Assumptions Used (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Foreign plans
Weighted average actuarial assumptions used in determining the benefit obligations
Rate of compensation increase	3.30%	3.70%
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit)
Rate of compensation increase	3.70%	3.40%	3.30%
Pension | Domestic plans
Weighted average actuarial assumptions used in determining the benefit obligations
Discount rate	2.60%	3.40%
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit)
Discount rate	3.40%	4.30%	3.60%
Expected return on plan assets	5.80%	6.30%	6.50%
Pension | Foreign plans
Weighted average actuarial assumptions used in determining the benefit obligations
Discount rate	2.00%	2.60%
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit)
Discount rate	2.60%	3.40%	3.10%
Expected return on plan assets	5.40%	5.90%	5.90%
Other Postretirement | Domestic plans
Weighted average actuarial assumptions used in determining the benefit obligations
Discount rate	2.40%	3.20%
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit)
Discount rate	3.20%	4.20%	3.50%
Other Postretirement | Foreign plans
Weighted average actuarial assumptions used in determining the benefit obligations
Discount rate	2.50%	3.10%
Weighted average actuarial assumptions used in determining the net periodic benefit cost (credit)
Discount rate	3.10%	3.80%	3.50%