Research and Development (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales (as a percent)	2.70%	2.30%	2.30%
Research and Development Expense
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales (as a percent)	0.80%	0.80%	0.90%
Engineering Expense
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales (as a percent)	1.90%	1.50%	1.40%