Pension Plans and Other Postretirement Benefits - Additional Information (Details) - USD ($) $ in Thousands		12 Months Ended
	Jan. 01, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation for defined benefit pension plans		$ 688,000	$ 928,800
Weighted-average expected rate of return on plan assets		6.48%	6.50%	6.52%
Actual rate of return		(17.94%)	8.42%	13.15%
Percentage of defined benefit plan assets in U.S. and U.K.		96.00%
Change in percentage of broad asset class targets		10.00%
Pension and postretirement contributions		$ 16,112	$ 30,253	$ 16,434
Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in 2020		$ 14,600
Other Postretirement Benefits
Defined Benefit Plan Disclosure [Line Items]
Discount rate		5.45%	2.85%
Expected premium contribution		$ 3,200
Projected benefit obligation recognized		35,990	$ 47,493	51,343
Supplemental Executive Retirement Plan
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in 2020		900
Costs (credits) related to supplemental executive retirement plan		(1,200)	(200)	$ 3,800
Projected benefit obligation recognized		$ 6,500	$ 8,700
Foreign Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		3.85%	3.98%	4.07%
Discount rate		4.04%	1.44%	0.86%	1.33%
Projected benefit obligation recognized		$ 180,561	$ 255,234	$ 290,385
Foreign Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	4.86%
U.S. Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		6.89%	6.88%	6.88%
Discount rate		5.46%	2.86%	2.50%	3.56%
Projected benefit obligation recognized		$ 514,971	$ 680,696	$ 740,951
Defined contribution plan, employer matching contribution percentage		5.00%
U.S. Plans | 2004 Defined Contribution Plan | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 12,100	16,700	6,900
U.S. Plans | Employee Savings Plan | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 12,700	$ 17,400	$ 7,500
U.S. Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	6.88%