Pension and Postretirement Benefits - Weighted-Average Assumptions Used to Determine Benefit Obligations (Details)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Foreign Pension Plans
Weighted-average assumptions used to determine benefit obligations
Discount rate	4.28%	4.68%
Rate of compensation increase	2.24%	2.16%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	4.67%	4.71%
Expected return on plan assets	4.01%	4.47%
Rate of compensation increase	2.24%	2.16%
Pension Plans \| Domestic Plans \| Funded Plans
Weighted-average assumptions used to determine benefit obligations
Discount rate	4.94%	5.13%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	5.13%	2.73%
Expected return on plan assets	5.55%	3.75%
Pension Plans \| Domestic Plans \| Unfunded Pension Plans
Weighted-average assumptions used to determine benefit obligations
Discount rate	4.94%	5.13%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	5.13%	2.73%
Postretirement Benefit Plans \| Domestic Plans
Weighted-average assumptions used to determine benefit obligations
Discount rate	4.98%	5.17%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	5.17%	2.85%

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan.

+ References

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- Definition

Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-8

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(3)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

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