Pension Plans and Other Postretirement Benefits - Additional Information (Details) - USD ($) $ in Thousands		12 Months Ended
	Jan. 01, 2024	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation for defined benefit pension plans		$ 700,400	$ 688,000
Weighted-average expected rate of return on plan assets		6.66%	6.48%	6.50%
Actual rate of return		11.21%	(17.94%)	8.42%
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		$ 17,866	$ 16,112	$ 30,253
Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in next year		$ 14,200
Other Postretirement Benefits
Defined Benefit Plan Disclosure [Line Items]
Discount rate		5.21%	5.45%
Expected premium contribution		$ 2,400
Projected benefit obligation recognized		28,889	$ 35,990	47,493
Supplemental Executive Retirement Plan
Defined Benefit Plan Disclosure [Line Items]
Expected contributions to benefit plans in next year		900
Costs (credits) related to supplemental executive retirement plan		600	(1,200)	$ (200)
Projected benefit obligation recognized		$ 6,200	$ 6,500
Foreign Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		4.86%	3.85%	3.98%
Discount rate		3.73%	4.04%	1.44%	0.86%
Projected benefit obligation recognized		$ 195,918	$ 180,561	$ 255,234
Foreign Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	5.95%
U.S. Plans | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets		6.88%	6.89%	6.88%
Discount rate		5.21%	5.46%	2.86%	2.50%
Projected benefit obligation recognized		$ 512,902	$ 514,971	$ 680,696
Defined contribution plan, employer matching contribution percentage		5.00%
U.S. Plans | Pension Plans | 2004 Defined Contribution Plan
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 17,800	12,100	16,700
U.S. Plans | Pension Plans | Employee Savings Plan
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, employer contributions		$ 18,400	$ 12,700	$ 17,400
U.S. Plans | Subsequent Event | Pension Plans
Defined Benefit Plan Disclosure [Line Items]
Weighted-average expected rate of return on plan assets	6.88%