Annual report pursuant to Section 13 and 15(d)

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

v3.24.0.1
Benefit Plans - Weighted Average Assumptions for Net Periodic Cost (Details)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Pension Plans | U.S.      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 5.39% 2.90% 2.50%
Expected return on assets 5.74% 4.90% 5.60%
Defined Benefit Pension Plans | Foreign      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate     1.20%
Expected return on assets     1.20%
Rate of compensation increase     1.75%
Other Postretirement Benefits Plans      
Defined Benefit Plan, Weighted Average Assumptions Used in Calculating Net Periodic Benefit Cost      
Discount rate 5.50% 2.90% 2.60%