Property, Plant and Equipment - Additional Information (Details) € in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2023 CAD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2021 EUR (€)
Property, Plant and Equipment [Line Items]
Depreciation expense	$ 51,400,000		$ 46,700,000	$ 43,900,000
Proceeds from sale of real estate			42,200,000
Gain on sale of real estate			37,900,000
Asset impairment charges	0		0	140,461,000
Asset impairments	0		0	9,283,000
Industrial Automation Solutions
Property, Plant and Equipment [Line Items]
Asset impairments				3,600,000
Canada
Property, Plant and Equipment [Line Items]
Proceeds from sale and leaseback transaction	13,800,000	$ 18.6
Gain (loss) on sale and leaseback transaction	$ 12,100,000
Sale and leaseback transaction, term of contract	10 years
Sales and leaseback transaction, right-of-use asset	$ 10,100,000
Germany
Property, Plant and Equipment [Line Items]
Proceeds from sale and leaseback transaction				27,800,000	€ 24.5
Gain (loss) on sale and leaseback transaction				$ (600,000)
Sale and leaseback transaction, term of contract				10 years	10 years
Sales and leaseback transaction, right-of-use asset	$ 20,500,000		$ 21,700,000
Asset impairment charges				$ 2,300,000
Brazil
Property, Plant and Equipment [Line Items]
Asset impairment charges				3,400,000
Goodwill impairment loss				1,700,000
Impairment of intangible assets				$ 1,000,000