Benefit Plans - Weighted Average Actuarial Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Pension Benefits | U.S. Plans
Weighted-average actuarial assumptions used to determine net periodic benefit cost:
Discount rate (as a percent)	5.20%	2.70%	2.40%
Expected long-term rate of return on plan assets (as a percent)	5.40%	3.50%	3.20%
Rate of compensation increases (as a percent)		3.00%	3.00%
Weighted-average actuarial assumptions used to determine benefit obligations:
Discount rate (as a percent)	5.00%	5.20%	2.70%
Rate of compensation increases (as a percent)			3.00%
Pension Benefits | Non-U.S. Plans
Weighted-average actuarial assumptions used to determine net periodic benefit cost:
Discount rate (as a percent)	4.50%	1.60%	1.10%
Expected long-term rate of return on plan assets (as a percent)	5.50%	4.40%	4.30%
Rate of compensation increases (as a percent)	4.30%	4.30%	3.10%
Weighted-average actuarial assumptions used to determine benefit obligations:
Discount rate (as a percent)	4.20%	4.50%	1.60%
Rate of compensation increases (as a percent)	5.00%	4.30%	4.30%
Other Postretirement Benefits | Minimum
Weighted-average actuarial assumptions used to determine net periodic benefit cost:
Discount rate (as a percent)	4.90%	2.40%	1.80%
Weighted-average actuarial assumptions used to determine benefit obligations:
Discount rate (as a percent)	4.90%	4.90%	2.40%
Other Postretirement Benefits | Maximum
Weighted-average actuarial assumptions used to determine net periodic benefit cost:
Discount rate (as a percent)	5.20%	3.00%	2.40%
Weighted-average actuarial assumptions used to determine benefit obligations:
Discount rate (as a percent)	5.10%	5.20%	3.00%