Annual report pursuant to Section 13 and 15(d)

Benefit Plans - Weighted Average Assumptions for Net Periodic Cost (Details)

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Benefit Plans - Weighted Average Assumptions for Net Periodic Cost (Details)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Defined Benefit Pension Plans | United States      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 4.32% 3.74% 4.24%
Rate of compensation increase 3.00% 3.00% 3.00%
Expected return on assets 6.00% 6.00% 6.37%
Defined Benefit Pension Plans | Foreign      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 3.01% 2.91% 2.99%
Rate of compensation increase 2.44% 2.57% 2.97%
Expected return on assets 3.44% 3.52% 3.58%
Supplemental Retirement Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 4.20% 3.60% 3.90%
Other Postretirement Benefits Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 4.09% 3.53% 3.74%