Other Accrued Expenses and Other Liabilities - Other Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accrued Liabilities and Other Liabilities [Abstract]
Operating lease liabilities	$ 172,983	$ 165,741
Defined benefit and other post-retirement benefit plans	86,066	92,630
Deferred compensation	79,268	82,479
Unrecognized tax benefits	27,307	34,361
Legal and environmental	26,991	30,139
Deferred revenue	19,544	19,879	$ 21,513
Warranty	7,117	5,098
Other	42,696	44,576
Other liabilities	$ 461,972	$ 474,903