Income Taxes - Effective Tax Rate Reconciliation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Tax provision at U.S. statutory rate	21.00%	21.00%	21.00%
State and local income tax	0.90%	1.10%	0.60%
U.S. tax on foreign earnings	1.30%	0.60%	0.10%
Italy patent box	(1.10%)	(1.20%)	(1.30%)
Foreign-Derived Intangible Income ("FDII")	(1.20%)	(1.10%)	(0.50%)
Excess tax benefits on stock-based compensation	(0.20%)	(0.50%)	(0.60%)
Audit settlements and unrecognized tax benefits	2.70%	(0.20%)	(1.00%)
Valuation allowance on deferred tax assets	(3.10%)	(0.20%)	(0.40%)
Tax on undistributed foreign earnings	0.30%	(0.10%)	0.80%
Asbestos divestiture	0.00%	0.00%	18.90%
Foreign tax rate differential	1.60%	0.00%	(0.20%)
Amended tax return	(1.00%)	0.00%	0.00%
Other adjustments	(1.00%)	0.30%	(0.20%)
Effective income tax rate	20.20%	19.70%	37.20%
U.S. tax on foreign earnings	$ 6.8