Segment Information - Operating Margin (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Motion Technologies
Segment Reporting Information [Line Items]
Operating margin	15.80%	15.20%	18.90%
Industrial Process
Segment Reporting Information [Line Items]
Operating margin	21.60%	19.30%	15.00%
Connect & Control Technologies
Segment Reporting Information [Line Items]
Operating margin	15.40%	17.90%	14.70%