Income Taxes - Effective Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2022 Rate	Dec. 31, 2021 Rate	Dec. 31, 2020 Rate
Income Tax Disclosure [Abstract]
Tax provision at U.S. statutory rate	21.00%	21.00%	21.00%
Asbestos divestiture	0.00%	18.90%	0.00%
Tax on undistributed foreign earnings	(0.10%)	0.80%	7.40%
Pension settlement AOCI expense	0.00%	0.00%	5.90%
Italy patent box	(1.20%)	(1.30%)	(5.60%)
Audit settlements and unrecognized tax benefits	(0.20%)	(1.00%)	(5.40%)
Excess tax benefits on stock-based compensation	(0.50%)	(0.60%)	(3.60%)
State and local income tax	1.10%	0.60%	(2.40%)
Foreign tax rate differential	0.00%	(0.20%)	1.60%
Valuation allowance on deferred tax assets	(0.20%)	(0.40%)	1.50%
U.S. tax on foreign earnings	0.60%	0.10%	(0.20%)
U.S. permanent items	(0.50%)	(0.10%)	(0.10%)
Other adjustments	(0.30%)	(0.60%)	(2.10%)
Effective income tax rate	19.70%	37.20%	18.00%