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Property, plant and equipment
 12 Months Ended
Dec. 31, 2022
Property, Plant and Equipment [Abstract]  
Property, plant and equipment Property, plant and equipment
The major classes of property, plant and equipment, at cost, at December 31, 2022 and 2021 were as follows: 
20222021
Land, buildings and leasehold improvements
$272,578 $285,305 
Machinery and equipment462,447 475,040 
Computer equipment and software192,785 191,605 
Construction in progress76,077 49,782 
1,003,887 1,001,732 
Less: Accumulated depreciation(556,682)(557,974)
Property, plant and equipment, net$447,205 $443,758