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Pension and Postretirement Benefits - Weighted-Average Assumptions Used to Determine Benefit Obligations (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Foreign Pension Plans    
Weighted-average assumptions used to determine benefit obligations    
Discount rate 2.34% 2.92%
Rate of compensation increase 2.35% 2.34%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]    
Discount rate 2.93% 3.68%
Expected return on plan assets 4.39% 4.55%
Rate of compensation increase 2.35% 2.34%
Pension Plans | Domestic Plans | Funded Plans    
Weighted-average assumptions used to determine benefit obligations    
Discount rate 2.38% 3.15%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]    
Discount rate 3.12% 4.28%
Expected return on plan assets 5.50% 5.50%
Pension Plans | Domestic Plans | Unfunded Pension Plans    
Weighted-average assumptions used to determine benefit obligations    
Discount rate 2.35% 3.13%
Rate of compensation increase 3.00% 3.00%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]    
Discount rate 3.13% 4.22%
Rate of compensation increase 3.00% 3.00%
Postretirement Benefit Plans | Domestic Plans    
Weighted-average assumptions used to determine benefit obligations    
Discount rate 2.47% 3.17%
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]    
Discount rate   4.29%
Expected return on plan assets   0.00%
Postretirement Benefit Plans | Domestic Plans | Unfunded Pension Plans    
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]    
Discount rate 3.19%  
Expected return on plan assets 0.00%