Employee Benefit Plans - Assumptions (Details)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Non-Qualified Supplemental Benefits \| Non-Qualified Supplemental Benefits
Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Discount rate	5.15%	5.50%
Average wage increase	4.50%	4.50%
Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	5.50%	2.90%	2.45%
Average wage increase	4.50%	4.50%	4.50%
United States \| Qualified Defined Benefits \| Qualified Defined Benefits
Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Discount rate	5.20%	5.55%
Average wage increase	4.00%	4.00%
Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	5.55%	2.95%	2.65%
Average wage increase	4.00%	4.00%	4.00%
Expected return on plan assets	5.60%	5.60%	5.60%
Foreign Plan \| Qualified Defined Benefits \| Qualified Defined Benefits
Weighted Average Assumptions Used in Calculating Benefit Obligation [Abstract]
Discount rate	2.80%	3.57%
Average wage increase	1.65%	1.70%
Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost [Abstract]
Discount rate	3.57%	1.18%	0.79%
Average wage increase	1.67%	1.53%	1.51%
Expected return on plan assets	4.69%	3.47%	3.40%

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate for present value of future retirement benefits cash flows, used to determine net periodic benefit cost of defined benefit plan.

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- Definition

Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-8

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(3)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

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