Financial Instruments - Narrative (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) country	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jan. 31, 2023 USD ($)
Guarantor Obligations [Line Items]
Derivatives liability resulted from netting arrangement	$ 500,000	$ (100,000)
Pre-tax gains (losses)	1,100,000	(2,600,000)	$ 2,700,000
Fair value of long-term debt	1,394,500,000	1,227,600,000
Long-term Debt, Gross	1,428,969,000	$ 1,364,161,000
Term Loan
Guarantor Obligations [Line Items]
Principle amount	200,000,000			$ 300,000,000
London Interbank Offered Rate | Fixed-Rate Term Loan | Term Loan
Guarantor Obligations [Line Items]
Basis spread on variable rate		3.12%
Foreign currency exchange forward contracts
Guarantor Obligations [Line Items]
Notional amounts	$ 633,300,000	$ 573,800,000
Minimum
Guarantor Obligations [Line Items]
Number of countries in which entity has currency exposures | country	30
Minimum | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Fixed-Rate Term Loan | Term Loan
Guarantor Obligations [Line Items]
Basis spread on variable rate	4.16%
Maximum | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Fixed-Rate Term Loan | Term Loan
Guarantor Obligations [Line Items]
Basis spread on variable rate	4.21%
Stand by letters of credit, bonds and bank guarantees
Guarantor Obligations [Line Items]
Contingent liability outstanding	$ 489,600,000	500,400,000	519,400,000
Guarantee term	2 years
Stand by letters of credit, bonds and bank guarantees | Minimum
Guarantor Obligations [Line Items]
Guarantee term	1 year
Fees paid to various banks and insurance companies on face amount of instruments (as a percent)	0.20%
Stand by letters of credit, bonds and bank guarantees | Maximum
Guarantor Obligations [Line Items]
Guarantee term	5 years
Fees paid to various banks and insurance companies on face amount of instruments (as a percent)	3.00%
Indemnification Agreement
Guarantor Obligations [Line Items]
Recognition of potential future payment in the consolidated financial statements	$ 0
Discontinued Operation, Gain (Loss) From Disposal Of Discontinued Operation [Member] | Interest rate swaps
Guarantor Obligations [Line Items]
Gain (Loss) on Discontinuation of Cash Flow Hedge Due to Forecasted Transaction Probable of Not Occurring, Net		$ 0	$ 0