Fair Value Measurements - Recurring Basis (Details) - Fair Value, Measurements, Recurring - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Fair value of assets and liabilities measured on recurring basis
Deferred compensation trusts	$ 13,000	$ 10,000
Foreign currency contracts
Fair value of assets and liabilities measured on recurring basis
Derivative assets	7,000	9,000
Derivative liabilities	4,000	8,000
Commodity
Fair value of assets and liabilities measured on recurring basis
Derivative assets	1,000	4,000
Derivative liabilities	1,000	1,000
SMR warrants
Fair value of assets and liabilities measured on recurring basis
Derivative liabilities	30,000	38,000
Level 1
Fair value of assets and liabilities measured on recurring basis
Deferred compensation trusts	13,000	10,000
Level 1 | SMR warrants
Fair value of assets and liabilities measured on recurring basis
Derivative liabilities	16,000	21,000
Level 2 | Foreign currency contracts
Fair value of assets and liabilities measured on recurring basis
Derivative assets	7,000	9,000
Derivative liabilities	4,000	8,000
Level 2 | Commodity
Fair value of assets and liabilities measured on recurring basis
Derivative assets	1,000	4,000
Derivative liabilities	1,000	1,000
Level 2 | SMR warrants
Fair value of assets and liabilities measured on recurring basis
Derivative liabilities	$ 14,000	$ 17,000