Retirement and Deferred Compensation Plans - Schedule of Weighted-Average Assumptions Used in Measurement of Benefit Obligation and Net Periodic Benefit Cost (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
United States Plans
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Rate of compensation increase		3.00%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Rate of compensation increase		3.00%	3.00%
United States Plans | Pension Plan
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Discount rate	2.10%	2.50%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate - service cost	2.50%	4.20%	3.60%
Discount rate - interest cost	2.50%	4.20%	3.20%
Expected long-term return on plan assets	0.00%	4.30%	4.50%
Non-United States Plans
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Rate of compensation increase	1.70%	1.70%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Interest crediting rates for cash balance plans	2.00%	2.00%
Rate of compensation increase	1.70%	1.70%	1.80%
Non-United States Plans | Pension Plan
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Discount rate	0.60%	1.10%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate - service cost	1.10%	1.80%	2.10%
Discount rate - interest cost	1.10%	1.80%	2.10%
Expected long-term return on plan assets	2.20%	2.70%	2.70%