Restructuring Activities - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	$ 18,654	$ 16,470	$ 18,367
Restructuring and integration cost payable period	60 days
Enterprise Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	$ 10,128	8,130	12,183
Productivity Initiative Program | Enterprise Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	3,600
Productivity Initiative Program | Industrial Automation Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	5,500
Acquisition Integration Program | Enterprise Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	6,500	4,800	9,600
Acquisition Integration Program | Industrial Automation Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	$ 3,000	3,400	3,000
Manufacturing Footprint Program | Enterprise Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs		3,300
Manufacturing Footprint Program | Industrial Automation Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs		$ 5,000
Cost Reduction Plan | Enterprise Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs			2,600
Cost Reduction Plan | Industrial Automation Solutions
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs			$ 3,200