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Underlying Security Market Price Change Underlying Security Market Price Change, Percent Expected return on plan assets Defined Benefit Plan, Expected Return (Loss) on Plan Assets Individual: Individual [Axis] Accumulated other comprehensive (loss) income AOCI Attributable to Parent [Member] Forfeited, weighted average exercise price (in usd per share) Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price Performance obligation, expected timing of satisfaction, period Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period Expected term (years) Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Term Inventories, net Total inventories, net Inventory, Net Product and Service [Axis] Product and Service [Axis] Entity Address, State or Province Entity Address, State or Province Statement [Line Items] Statement [Line Items] Derivative Instruments and Hedging Activities Disclosure [Abstract] Derivative Instruments and Hedging Activities Disclosure [Abstract] Erroneous Compensation Analysis Erroneous Compensation Analysis [Text Block] Performance restricted stock unit expense Performance Restricted Stock Unit Expense The noncash expense that represents the cost of performance restricted stock units distributed to employees as compensation. 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Peer Group Issuers, Footnote Peer Group Issuers, Footnote [Text Block] Segments [Domain] Segments [Domain] Material Terms of Trading Arrangement Material Terms of Trading Arrangement [Text Block] Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] Unrecognized Tax Benefits [Roll Forward] All Individuals All Individuals [Member] PEO PEO [Member] Income Tax Disclosure [Abstract] Income Tax Disclosure [Abstract] Name Trading Arrangement, Individual Name Other income (expense), net Other Nonoperating Income (Expense) Statement of Stockholders' Equity [Abstract] Statement of Stockholders' Equity [Abstract] Other intangibles, net Intangible Assets, Net (Excluding Goodwill) Expected future pre-tax compensation expense, nonvested restricted shares Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount Euro Loan Euro Loan [Member] Euro Loan [Member] Aerospace and power Aerospace and Power [Member] Aerospace and Power. Business Combination, Asset Acquisition, and Joint Venture Formation [Abstract] Awards Close in Time to MNPI Disclosures, Table Awards Close in Time to MNPI Disclosures [Table Text Block] Prior Year End Fair Value of Equity Awards Granted in Any Prior Year that Fail to Meet Applicable Vesting Conditions During Covered Year Prior Year End Fair Value of Equity Awards Granted in Any Prior Year that Fail to Meet Applicable Vesting Conditions During Covered Year [Member] Automation and engineered solutions Automation and engineered solutions [Member] Automation and engineered solutions Aggregate Erroneous Compensation Amount Aggregate Erroneous Compensation Amount Local Phone Number Local Phone Number Cash and cash equivalents: Cash and Cash Equivalents, at Carrying Value [Abstract] Aggregate Erroneous Compensation Not Yet Determined Aggregate Erroneous Compensation Not Yet Determined [Text Block] Deferred income taxes Deferred Income Tax Liabilities, Net Expected volatility Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate PEO Total Compensation Amount PEO Total Compensation Amount Foreign plans and other Foreign Plans And Other Foreign plans and other. Contingencies Commitments and Contingencies Disclosure [Text Block] Issuance of common stock under employee stock plans Stock Issued During Period, Value, Treasury Stock Reissued Capital stock Common Stock [Member] Measure: Measure [Axis] Additions for tax positions Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions Forgone Recovery due to Expense of Enforcement, Amount Forgone Recovery due to Expense of Enforcement, Amount Entity Emerging Growth Company Entity Emerging Growth Company Environmental Remediation Site [Axis] Environmental Remediation Site [Axis] Entity Central Index Key Entity Central Index Key Inventories Schedule of Inventory, Current [Table Text Block] Lessee, Lease, Description [Table] Lessee, Lease, Description [Table] Non-GAAP Measure Description Non-GAAP Measure Description [Text Block] Accumulated foreign currency adjustment attributable to parent Accumulated Foreign Currency Adjustment Attributable to Parent [Member] Non-PEO NEO Average Compensation Actually Paid Amount Non-PEO NEO Average Compensation Actually Paid Amount Balance at the beginning of the period Balance at the end of the period Standard Product Warranty Accrual Award Timing, How MNPI Considered Award Timing, How MNPI Considered [Text Block] Equity Component [Domain] Equity Component [Domain] Additional 402(v) Disclosure Additional 402(v) Disclosure [Text Block] Recent Accounting Pronouncements Accounting Standards Update and Change in Accounting Principle [Text Block] Share-based compensation expense APIC, Share-Based Payment Arrangement, Increase for Cost Recognition Restricted Shares Restricted Stock [Member] Fair value, measurement with unobservable inputs reconciliation, recurring basis, asset, transfers, net Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Asset, Transfers, Net Entity Shell Company Entity Shell Company Measurement Basis [Axis] Measurement Basis [Axis] Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code Title Trading Arrangement, Individual Title Statement [Table] Statement [Table] Measurement Frequency [Domain] Measurement Frequency [Domain] Tax related to amortization of net actuarial loss (gain) Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax Gross unrecognized tax benefits Balance at the beginning of the year Balance at the end of the year Unrecognized Tax Benefits City Area Code City Area Code Current liabilities: Liabilities, Current [Abstract] Gain on sale of facilities Gain Loss On Sale Of Facilities Gain (loss) on sale of facilities. 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Statement of Cash Flows [Abstract] Repurchases of common stock Payments for Repurchase of Common Stock Ending balance, exercisable (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Number Net change in assets and liabilities, net of acquisitions Increase (Decrease) in Operating Capital Defined benefit pension plan contributions Defined Benefit Plan, Plan Assets, Contributions by Employer Long-term debt, net Long-Term Debt, Excluding Current Maturities Accounts Receivable Receivable [Policy Text Block] Schedule of Segment Reporting Information, by Segment [Table] Schedule of Segment Reporting Information, by Segment [Table] Weighted Average  Grant Date Fair Value Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract] Black-Scholes-Merton fair value per stock option granted (in usd per share) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value Income Taxes Income Tax Disclosure [Text Block] 2028 Lessee, Operating Lease, Liability, to be Paid, Year Four Earnings Per Share [Abstract] Earnings Per Share [Abstract] Schedule of Revenue From External Customers by Products and Services Revenue from External Customers by Products and Services [Table Text Block] Raw materials and purchased parts Inventory, Raw Materials, Net of Reserves Retained earnings Retained Earnings (Accumulated Deficit) Deferred income taxes Deferred Income Taxes and Tax Credits Organization, Consolidation and Presentation of Financial Statements [Abstract] Organization, Consolidation and Presentation of Financial Statements [Abstract] Aggregate Available Trading Arrangement, Securities Aggregate Available Amount Equity Awards Adjustments Equity Awards Adjustments [Member] Net change in short-term borrowings Proceeds from (Repayments of) Short-Term Debt Total lease liabilities Operating Lease, Liability Total financing activities Net Cash Provided by (Used in) Financing Activities Underlying Securities Award Underlying Securities Amount Accounting Changes and Error Corrections [Abstract] Accounting Changes and Error Corrections [Abstract] Cash dividends paid Dividends, Common Stock, Cash Amendment Flag Amendment Flag Long-term debt, net (including current portion) Long-Term Debt, Fair Value Recorded Amount Reported Value Measurement [Member] Entity Registrant Name Entity Registrant Name Products transferred at a point in time Transferred at Point in Time [Member] Adjustment to Non-PEO NEO Compensation Footnote Adjustment to Non-PEO NEO Compensation Footnote [Text Block] Stock Appreciation Rights (SARs) Stock Appreciation Rights (SARs) [Member] Timing of Transfer of Good or Service [Axis] Timing of Transfer of Good or Service [Axis] Schedule of Product Warranty Liability Schedule of Product Warranty Liability [Table Text Block] Fair Value as of Grant Date Award Grant Date Fair Value Level 2 Fair Value, Inputs, Level 2 [Member] Fair Value Hierarchy [Domain] Fair Value Hierarchy and NAV [Domain] Geographical [Domain] Geographical [Domain] Net change Net Increase (Decrease) In Contract With Customer Assets Liabilities Amount of increase (decrease) in right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time. Number of non-owned sites company is named potentially responsible party Loss Contingency, Number Of Non Owned Sites Company Is Named Potentially Responsible Party Number of non-owned sites the Company is named a Potentially Responsible Party. Nonvested stock options outstanding (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested, Number of Shares Recovery of Erroneously Awarded Compensation Disclosure [Line Items] Schedule of Disaggregation of Revenue Disaggregation of Revenue [Table Text Block] Shares issued Stock Issued During Period, Value, New Issues Entity Address, Postal Zip Code Entity Address, Postal Zip Code Restatement Determination Date: Restatement Determination Date [Axis] Title of 12(b) Security Title of 12(b) Security Common stock Common Stock, Value, Issued Performance assumption change (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Performance Assumption Change Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Performance Assumption Change Restricted stock expense Restricted Stock or Unit Expense Share-based Payment Arrangement [Abstract] Share-Based Payment Arrangement [Abstract] Total other plans Other Postretirement Benefits Cost (Reversal of Cost) Cash and cash equivalents Cash and Cash Equivalents, at Carrying Value Other, net Payments for (Proceeds from) Other Investing Activities Year-over-Year Change in Fair Value of Equity Awards Granted in Prior Years That are Outstanding and Unvested Year-over-Year Change in Fair Value of Equity Awards Granted in Prior Years That are Outstanding and Unvested [Member] Forfeited (in usd per share) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value Financing activities: Net Cash Provided by (Used in) Financing Activities [Abstract] Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested [Member] Hedge against net investment in foreign subsidiaries Derivative, Amount of Hedged Item Operating lease, liability, current, statement of financial position Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward] Depreciation and amortization Depreciation, Depletion and Amortization, Nonproduction Fair Value Measurement [Domain] Fair Value Measurement [Domain] Basic earnings per share (in usd per share) Earnings Per Share, Basic Euro Forward Contract Euro Forward Contract [Member] Euro Forward Contract Adjustment To PEO Compensation, Footnote Adjustment To PEO Compensation, Footnote [Text Block] Award Timing MNPI Disclosure Award Timing MNPI Disclosure [Text Block] Payments for environmental matters Payments for Environmental Liabilities Aggregate Pension Adjustments Service Cost Aggregate Pension Adjustments Service Cost [Member] Schedule of Goodwill [Table] Goodwill [Table] Designated as Hedging Instrument Designated as Hedging Instrument [Member] Compensation Actually Paid vs. Other Measure Compensation Actually Paid vs. Other Measure [Text Block] Total current liabilities Liabilities, Current Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year [Member] Weighted average common shares outstanding: Weighted Average Number of Shares Outstanding, Diluted [Abstract] Expected future pre-tax compensation expense, nonvested stock options Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount Aggregate Intrinsic Value Aggregate Intrinsic Value [Abstract] Aggregate Intrinsic Value Total assets Assets Reconciliation of Liability for Uncertain Tax Positions Summary of Income Tax Contingencies [Table Text Block] Cost of sales Cost of Goods and Services Sold Granted (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period Fair Value of Assets Measured on Recurring Basis Fair Value, Assets Measured on Recurring Basis [Table Text Block] Additions to property, plant and equipment Payments to Acquire Property, Plant, and Equipment Other long-term liabilities Other Liabilities, Noncurrent Movement in Standard Product Warranty Accrual [Roll Forward] Movement in Standard Product Warranty Accrual [Roll Forward] Forgone Recovery due to Violation of Home Country Law, Amount Forgone Recovery due to Violation of Home Country Law, Amount Termination Date Trading Arrangement Termination Date Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] 2026 Lessee, Operating Lease, Liability, to be Paid, Year Two Share-Based Compensation Share-Based Payment Arrangement [Text Block] Schedule of Revenue From External Customers by Geographic Areas Revenue from External Customers by Geographic Areas [Table Text Block] Entity Address, City or Town Entity Address, City or Town Summary of Stock Option Activity and Related Information Share-Based Payment Arrangement, Option, Activity [Table Text Block] Aggregate intrinsic value of stock options exercised Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value Net income Net income Net Income (Loss) Attributable to Parent Trading Arrangement: Trading Arrangement [Axis] Fair Value Disclosures of Financial Instrument Liabilities Fair Value, by Balance Sheet Grouping [Table Text Block] Granted, weighted average exercise price (in usd per share) Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price Pay vs Performance Disclosure, Table Pay vs Performance [Table Text Block] Forfeited (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period Equity Awards Adjustments, Excluding Value Reported in Compensation Table Equity Awards Adjustments, Excluding Value Reported in the Compensation Table [Member] Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year [Member] Entity File Number Entity File Number Net investment hedge instruments gain (loss), net of tax of $(930) and $2,317 for the quarter ended June 30, 2024 and 2023, and $(4,917) and $6,122 for the six months ended June 30, 2024 and 2023, respectively Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification and Tax Revenues Revenue from Contract with Customer [Text Block] Document Fiscal Year Focus Document Fiscal Year Focus Income Statement [Abstract] Income Statement [Abstract] Entity Address, Address Line One Entity Address, Address Line One Purchase of treasury stock Treasury Stock, Value, Acquired, Cost Method Effect of exchange rate changes on cash and cash equivalents Effect of Exchange Rate on Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents, Continuing Operations Name Forgone Recovery, Individual Name Ending balance, exercisable, aggregate intrinsic value Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Intrinsic Value Remaining 2024 Lessee, Operating Lease, Liability, to be Paid, Remainder of Fiscal Year Operating lease, weighted average remaining lease term Operating Lease, Weighted Average Remaining Lease Term Document Period End Date Document Period End Date Finished goods and parts Inventory, Finished Goods, Net of Reserves Other, net Other Noncash Income (Expense) Award Timing MNPI Considered Award Timing MNPI Considered [Flag] Total lease payments Lessee, Operating Lease, Liability, to be Paid Nonvested restricted stock outstanding (in shares) Non-vested restricted stock outstanding at beginning of period (in shares) Non-vested restricted stock outstanding at end of period (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number Insider Trading Arrangements [Line Items] Contract assets Contract with Customer, Asset, after Allowance for Credit Loss Timing of Transfer of Good or Service [Domain] Timing of Transfer of Good or Service [Domain] Inventory Disclosure [Abstract] Inventory Disclosure [Abstract] Outstanding Aggregate Erroneous Compensation Amount Outstanding Aggregate Erroneous Compensation Amount Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] 2027 Lessee, Operating Lease, Liability, to be Paid, Year Three PEO Actually Paid Compensation Amount PEO Actually Paid Compensation Amount Revenue recognized from contract liabilities Contract with Customer, Liability, Revenue Recognized Adjustment to Compensation: Adjustment to Compensation [Axis] Foreign Exchange Contract Foreign Exchange Contract [Member] Document Transition Report Document Transition Report Document Quarterly Report Document Quarterly Report Fair Value, Recurring and Nonrecurring [Table] Fair Value, Recurring and Nonrecurring [Table] Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Entity Current Reporting Status Entity Current Reporting Status Retained earnings Retained Earnings [Member] Pension Adjustments Service Cost Pension Adjustments Service Cost [Member] Site Contingency [Table] Site Contingency [Table] Basic shares (in shares) Basic shares Weighted Average Number of Shares Outstanding, Basic Stock Price or TSR Estimation Method Stock Price or TSR Estimation Method [Text Block] Currency remeasurement gain Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, before Tax Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity [Roll Forward] Executive Category: Executive Category [Axis] Name Awards Close in Time to MNPI Disclosures, Individual Name Forfeited (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures in Period International International [Member] International. Entity Filer Category Entity Filer Category Total fair value of stock options vested Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested in Period, Fair Value Revenue, remaining performance obligation Revenue, Remaining Performance Obligation, Amount Company Selected Measure Name Company Selected Measure Name