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Cover [Abstract] Cover [Abstract] Accounts payable Accounts Payable, Current Foreign currency translation adjustments Goodwill, Foreign Currency Translation Gain (Loss) Document Type Document Type Translation adjustments Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Gain (Loss) Arising During Period, Net of Tax Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] Retained earnings Retained earnings Retained Earnings (Accumulated Deficit) Right of use assets, net Right of use assets, net Operating Lease, Right-of-Use Asset Amortization period for finite-lived intangible asset Acquired Finite-lived Intangible Assets, Weighted Average Useful Life British pound forward contracts British Pound Forward Contract, Number of Contracts British Pound Forward Contract, Number of Contracts 2021 Lessee, Operating Lease, Liability, to be Paid, Year One Share-based payment award, options, outstanding (in shares) Beginning balance, outstanding (in shares) Ending balance, outstanding (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number Property, plant and equipment Business Combination, Recognized Identifiable Assets Acquired and Liabilities Assumed, Property, Plant, and Equipment 2024 Lessee, Operating Lease, Liability, to be Paid, Year Four New Accounting Pronouncements or Change in Accounting Principle [Line Items] New Accounting Pronouncements or Change in Accounting Principle [Line Items] Hedging Designation [Domain] Hedging Designation [Domain] Total lease cost Lease, Cost Document Quarterly Report Document Quarterly Report Ending balance, exercisable (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number Common stock, par value (in usd per share) Common Stock, Par or Stated Value Per Share Other long-term liabilities Other Liabilities, Noncurrent Other, net Payments for (Proceeds from) Other Investing Activities Total fair value of stock options vested Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value Work in process Inventory, Work in Process, Net of Reserves Share-based compensation costs APIC, Share-based Payment Arrangement, Increase for Cost Recognition Inventories, net Total inventories, net Inventory, Net Measurement Frequency [Domain] Measurement Frequency [Domain] Tranche Three Share-based Payment Arrangement, Tranche Three [Member] Entity File Number Entity File Number Business Acquisition [Axis] Business Acquisition [Axis] Geographical [Domain] Geographical [Domain] Investment Company, Capital Share Transactions [Abstract] Investment Company, Capital Share Transactions [Abstract] Contractual term of stock options Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period Cash provided by (used for): Cash and Cash Equivalents, Period Increase (Decrease) [Abstract] Statement [Line Items] Statement [Line Items] Document Fiscal Period Focus Document Fiscal Period Focus Site Contingency [Line Items] Site Contingency [Line Items] Statement [Table] Statement [Table] Type of Restructuring [Domain] Type of Restructuring [Domain] Interest cost Defined Benefit Plan, Interest Cost Statistical Measurement [Axis] Statistical Measurement [Axis] Deferred income taxes Deferred Income Taxes and Tax Credits Number of Weighted Average Shares Schedule of Weighted Average Number of Shares [Table Text Block] Restructuring and Related Activities [Abstract] Restructuring and Related Activities [Abstract] Business Combinations [Abstract] Business Combinations [Abstract] Effect on earnings per Share diluted (in usd per share) Effect On Earnings Per Share Diluted Effect On Earnings Per Share Diluted. 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Income Statement Location [Domain] Income Statement Location [Domain] 2022 Lessee, Operating Lease, Liability, to be Paid, Year Two Financing activities: Net Cash Provided by (Used in) Financing Activities [Abstract] Accounts Receivable Receivable [Policy Text Block] Selling, general and administrative Selling, General and Administrative Expense Derivative, notional amount Derivative, Notional Amount Foreign Exchange Contract Foreign Exchange Contract [Member] Components of Lease Expense Lease, Cost [Table Text Block] Number of non-owned sites the Company is identified as a de minimis party Loss Contingency, Number Of Non Owned Sites Company Is Identified As De Minimis Party Number of non-owned sites the Company is identified as a de minimis party. Entity Current Reporting Status Entity Current Reporting Status 2023 Lessee, Operating Lease, Liability, to be Paid, Year Three Electromechanical Group Electromechanical Group [Member] Electro-mechanical. 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Income taxes payable Accrued Income Taxes, Current Warranty accruals related to acquired businesses and other during the period Warranty Accruals Adjustments Related To New Businesses And Other Warranty accruals adjustments related to new businesses and other. 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Beginning balance, outstanding, weighted average exercise price (in usd per share) Ending balance, outstanding, weighted average exercise price (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price Accounting Changes and Error Corrections [Abstract] Accounting Changes and Error Corrections [Abstract] Purchases of businesses, net of cash acquired Purchases of businesses, net of cash acquired Total cash paid Payments to Acquire Businesses, Net of Cash Acquired Equity-based compensation plans Incremental Common Shares Attributable to Dilutive Effect of Share-based Payment Arrangements Schedule of revenue from external customers by geographic areas Revenue from External Customers by Geographic Areas [Table Text Block] Proceeds from stock option exercises Proceeds from Stock Options Exercised Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List] Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List] Balance at the beginning of the period Balance at the end of the period Standard Product Warranty Accrual Officers And Key Management Employees Officers And Key Management Employees [Member] Officers And Key Management Employees Effect On Net Income (Loss) Effect On Net Income (Loss) Effect On Net Income (Loss) Document Period End Date Document Period End Date Entity Registrant Name Entity Registrant Name Fair Value Estimate of Fair Value Measurement [Member] Income Statement [Abstract] Income Statement [Abstract] Accumulated Other Comprehensive (Loss) Income AOCI Attributable to Parent [Member] Vesting period Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights Lease liabilities included in Other long-term liabilities Operating Lease, Liability, Noncurrent Accruals for warranties issued during the period Standard Product Warranty Accrual, Increase for Warranties Issued Schedule of Segment Reporting Information, by Segment [Table] Schedule of Segment Reporting Information, by Segment [Table] Proceeds from sale of facilities Proceeds From Sale Of Facilities Proceeds from sale of facilities. Current assets: Assets, Current [Abstract] Total comprehensive income Comprehensive Income (Loss), Net of Tax, Attributable to Parent Expected dividend yield Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate Preferred stock, par value (in usd per share) Preferred Stock, Par or Stated Value Per Share Additions to property, plant and equipment Payments to Acquire Property, Plant, and Equipment Consolidation Items [Domain] Consolidation Items [Domain] Entity Tax Identification Number Entity Tax Identification Number Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Operating Lease, Liability, Current, Statement of Financial Position [Extensible List] Net income Net Income (Loss), Including Portion Attributable to Noncontrolling Interest British-Pound-Denominated Loans British Pound Denominated Loans [Member] British pound denominated loans. 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Foreign currency translation Accrual for Environmental Loss Contingencies, Foreign Currency Translation Gain (Loss) Reductions for tax positions Unrecognized Tax Benefits, Decrease Resulting from Current Period Tax Positions Future amortization expense, year three Finite-Lived Intangible Assets, Amortization Expense, Rolling Year Three Goodwill [Line Items] Goodwill [Line Items] Thereafter Lessee, Operating Lease, Liability, Payments, Due after Year Four Lessee, Operating Lease, Liability, Payments, Due after Year Four Lessee, Lease, Description [Line Items] Lessee, Lease, Description [Line Items] Change in contract liabilities – increase Increase (Decrease) in Contract with Customer, Liability Leases Lessee, Operating Leases [Text Block] Fair Value Disclosures [Abstract] Fair Value Disclosures [Abstract] Pension contributions Payment for Pension Benefits Service cost Defined Benefit Plan, Service Cost City Area Code City Area Code Performance Restricted Stock Units Performance Restricted Stock Units [Member] PerformanceRestrictedStockUnits Customer Relationship Customer Relationships [Member] Cost of sales Cost of Goods and Services Sold Total operating expenses Costs and Expenses Equity Components [Axis] Equity Components [Axis] Title of 12(b) Security Title of 12(b) Security Restricted Stock Restricted Shares Restricted Stock [Member] Accounts receivable included in purchase price Business Combination, Recognized Identifiable Assets Acquired and Liabilities Assumed, Current Assets, Receivables Finished goods and parts Inventory, Finished Goods, Net of Reserves Share-based Payment Arrangement [Abstract] Share-based Payment Arrangement [Abstract] Minimum Minimum [Member] Cash Paid For Amounts Included In Measurement Of Lease Liabilities [Abstract] Cash Paid For Amounts Included In Measurement Of Lease Liabilities [Abstract] Cash paid for amounts included in measurement of lease liabilities. Balance Sheet Location [Domain] Balance Sheet Location [Domain] Lease liabilities included in Accrued Liabilities and other Operating Lease, Liability, Current Expected future pre-tax compensation expense, nonvested restricted shares Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount 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 Weighted Average Assumptions Used for Estimating Fair Values of Stock Options Granted Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] Restricted stock expense Restricted Stock or Unit Expense Pension (income) expense Defined Benefit Plan, Net Periodic Benefit Cost (Credit) United States UNITED STATES Exercised, weighted average exercise price (in usd per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price Fair Value Measurements Fair Value Disclosures [Text Block] Operating activities: Net Cash Provided by (Used in) Operating Activities [Abstract] Summary of Stock Option Activity and Related Information Share-based Payment Arrangement, Option, Activity [Table Text Block] Percentage of effectiveness on net investment hedges Percentage Of Effectiveness On Net Investment Hedges Percentage of effectiveness on net investment hedges. United Kingdom, Pounds United Kingdom, Pounds Cumulative Effect, Period of Adoption, Adjustment Cumulative Effect, Period of Adoption, Adjustment [Member] Capital in excess of par value Additional Paid in Capital, Common Stock Litigation settlement amount awarded to other party Litigation Settlement, Amount Awarded to Other Party Nonvested stock options outstanding (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares Business Acquisition [Line Items] Business Acquisition [Line Items] Derivative [Table] Derivative [Table] Statement of Stockholders' Equity [Abstract] Statement of Stockholders' Equity [Abstract] Weighted-average discount rate—operating leases Operating Lease, Weighted Average Discount Rate, Percent Kymera International Kymera International [Member] Restricted Stock Granted Prior Date Restricted Stock Granted Prior Date [Member] Restricted Stock Granted Prior Date Issuance of common stock under employee stock plans Stock Issued During Period, Value, Treasury Stock Reissued Weighted Average Exercise Price Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] Total net pension expense Pension and Other Postretirement Benefits Cost (Reversal of Cost) Cash dividends paid Payments of Ordinary Dividends, Common Stock Consolidation Items [Axis] Consolidation Items [Axis] Currency remeasuresment gains (losses) Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, before Tax Euro Loan Euro Loan [Member] Euro Loan [Member] Total lease payments Lessee, Operating Lease, Liability, to be Paid Depreciation and amortization Depreciation, Depletion and Amortization, Nonproduction Non Employee Directors Restricted Stock Non Employee Directors Restricted Stock [Member] Non Employee Directors Restricted Stock Aerospace and power Aerospace and Power [Member] Aerospace and Power. Balance at December 31, 2019 Balance at June 30, 2020 Restructuring Reserve Adjustments for New Accounting Pronouncements [Axis] Accounting Standards Update [Axis] Automation and engineered solutions Automation and engineered solutions [Member] Automation and engineered solutions Restructuring Type [Axis] Restructuring Type [Axis] Number of class action lawsuits Loss Contingency, Number Of Class Action Lawsuits Loss Contingency, Number Of Class Action Lawsuits Utilization Payments for Restructuring Goodwill Goodwill, beginning balance Goodwill, ending balance Goodwill Timing of Transfer of Good or Service [Axis] Timing of Transfer of Good or Service [Axis] Other current assets Other Assets, Current Vesting [Axis] Vesting [Axis] Changes in Carrying Amounts of Goodwill by Segment Schedule of Goodwill [Table Text Block] Forfeited (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period Defined benefit plans: Defined Benefit Plan, Net Periodic Benefit Cost (Credit) [Abstract] Foreign plans and other Foreign Plans And Other Foreign plans and other. 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Weighted-average remaining lease terms—operating leases (years) Operating Lease, Weighted Average Remaining Lease Term Finite-lived intangible assets acquired Finite-lived Intangible Assets Acquired Total financing activities Net Cash Provided by (Used in) Financing Activities Revenue, remaining performance obligation Revenue, Remaining Performance Obligation, Amount Gross unrecognized tax benefits Balance at the beginning of the year Balance at the end of the year Unrecognized Tax Benefits Balance Sheet Location [Axis] Balance Sheet Location [Axis] Net sales Revenue from Contract with Customer, Including Assessed Tax Mutual fund investments Long-term Investments Common stock Common Stock, Value, Issued Goodwill and Intangible Assets Disclosure [Abstract] Goodwill and Intangible Assets Disclosure [Abstract] Ending balance, Exercisable, Aggregate Intrinsic Value Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value Short-term borrowings and current portion of long-term debt, net Debt, Current All Currencies [Domain] All Currencies [Domain] Retirement Benefits [Abstract] Retirement Benefits [Abstract] Stock option expense Stock or Unit Option Plan Expense Reconciliation of Liability for Uncertain Tax Positions Summary of Income Tax Contingencies [Table Text Block] Change in contract assets – (decrease) increase Increase (Decrease) in Contract with Customer, Asset Granted (in usd per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value Inventory Disclosure [Abstract] Inventory Disclosure [Abstract] Share-based compensation, vesting rate Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage Investing activities: Net Cash Provided by (Used in) Investing Activities [Abstract] Cash and cash equivalents Beginning of period End of period Cash and Cash Equivalents, at Carrying Value Foreign Exchange Forward Foreign Exchange Forward [Member] Gain on sale of facilities Gain Loss On Sale Of Facilities Gain (loss) on sale of facilities. Total lease liabilities Operating Leases Operating Lease, Liability Long-term debt, net Long-term Debt, Excluding Current Maturities Future amortization expense, year one Finite-Lived Intangible Assets, Amortization Expense, Next Rolling Twelve Months Asia Asia [Member] Electronic Instruments Group Electronic Instruments Group [Member] Electronic Instruments. Total stockholders’ equity Balance at the beginning of the year Balance at the end of the year Stockholders' Equity Attributable to Parent Statement of Comprehensive Income [Abstract] Statement of Comprehensive Income [Abstract] Business Combination, Consideration Transferred Business Combination, Consideration Transferred Total liabilities and stockholders’ equity Liabilities and Equity Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Income Taxes Income Tax Disclosure [Text Block] Net investment hedge instruments gain (loss), net of tax of $2,339 and $(220) for the quarter ended June 30, 2020 and 2019 and $(6,778) and $(1,350) for the six months ended June 30, 2020 and 2019, respectively Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification, Tax Portion at Fair Value Measurement Portion at Fair Value Measurement [Member] Operating lease cost Operating Lease, Cost Hedging Relationship [Axis] Hedging Relationship [Axis] Financial Instrument [Axis] Financial Instrument [Axis] Type of Adoption [Domain] Accounting Standards Update [Domain] Other, net Other Noncash Income (Expense) Additions for tax positions Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions Equity Component [Domain] Equity Component [Domain] Entity Address, Address Line One Entity Address, Address Line One Property, plant and equipment, net Property, Plant and Equipment, Net Lessee, Lease, Description [Table] Lessee, Lease, Description [Table] Share-Based Compensation Share-based Payment Arrangement [Text Block] Net income Net income Net Income (Loss) Attributable to Parent Entity Address, State or Province Entity Address, State or Province Remaining 2020 Lessee, Operating Lease, Liability, to be Paid, Remainder of Fiscal Year Inventories, net Inventory Disclosure [Text Block] Trade Names Trade Names [Member] Leases [Abstract] Leases [Abstract] Total current assets Assets, Current Goodwill Goodwill Disclosure [Text Block] Earnings Per Share [Abstract] Earnings Per Share [Abstract] Pre-tax charges Restructuring charges Restructuring Charges 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. Gain on sale of business Gain (Loss) On Disposition Of Business Gain (Loss) on Disposition of Business Accumulated Defined Benefit Plans Adjustment Attributable to Parent Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member] Stockholders’ equity: Stockholders' Equity Attributable to Parent [Abstract] Total other intangible assets acquired Other intangible assets Business Combination, Recognized Identifiable Assets Acquired and Liabilities Assumed, Intangible Assets, Other than Goodwill Significant transfers from level 1 to level 2 Fair Value, Assets, Level 1 to Level 2 Transfers, Amount Entity Interactive Data Current Entity Interactive Data Current 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] Entity Common Stock, Shares Outstanding Entity Common Stock, Shares Outstanding Amortization of net actuarial loss (gain) and other, net of tax of $(531) and $(873) for the quarter ended June 30, 2020 and 2019, and $(1,062) and $(1,746) for the six months ended June 30, 2020 and 2019, respectively Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, after Tax Customer advanced payments Contract with Customer, Liability, Noncurrent Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code Defined benefit pension plan contributions Defined Benefit Plan, Plan Assets, Contributions by Employer Investments and other assets Investments and Other Noncurrent Assets Business Acquisition, Acquiree [Domain] Business Acquisition, Acquiree [Domain] Capital stock Common Stock [Member] Product and Service [Domain] Product and Service [Domain] Accumulated Foreign Currency Adjustment Attributable to Parent Accumulated Foreign Currency Adjustment Attributable to Parent [Member] Reduction In Workforce Reduction In Workforce [Member] Reduction In Workforce Defined contribution plans Defined Contribution Plan, Cost European Union countries European Union [Member] 2020 Consolidated Acquisition Two Thousand And Twenty Consolidated Acquisition [Member] Two Thousand And Twenty Consolidated Acquisition Future amortization expense, year five Finite-Lived Intangible Assets, Amortization Expense, Rolling Year Five Revision of Prior Period [Domain] Revision of Prior Period [Domain] Aggregate Intrinsic Value Aggregate Intrinsic Value [Abstract] Aggregate Intrinsic Value Performance obligation, expected timing of satisfaction, period Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period Allowance for notes and loans receivable Financing Receivable, Allowance for Credit Loss, Current Currency [Axis] Currency [Axis] Exercised (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Acquisition and Divestiture Business Combination Disclosure [Text Block] Hedge against net investment in foreign subsidiaries Derivative, Amount of Hedged Item Hedging Relationship [Domain] Hedging Relationship [Domain] Stock Option Share-based Payment Arrangement, Option [Member] Basis of Presentation Basis of Accounting, Policy [Policy Text Block] Increase in cash and cash equivalents Cash and Cash Equivalents, Period Increase (Decrease) Basic shares (in shares) Basic shares (in shares) Weighted Average Number of Shares Outstanding, Basic Risk-free interest rate Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate 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 Change in long-term intercompany notes Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax Recorded Amount Reported Value Measurement [Member] Revenues Revenue from Contract with Customer [Text Block] Right-of-use assets obtained in exchange for new operating liabilities Right-of-Use Asset Obtained in Exchange for Operating Lease Liability Basis of Presentation Organization, Consolidation and Presentation of Financial Statements Disclosure [Text Block] Reserves related to an owned site acquired Accrual for Environmental Loss Contingencies, Component Amount Long-term debt, net (including current portion) Long-term Debt, Fair Value Future amortization expense, year two Finite-Lived Intangible Assets, Amortization Expense, Rolling Year Two Provision for income taxes Income Tax Expense (Benefit) Proceeds from sale of business Proceeds from Divestiture of Businesses Summary of Nonvested Restricted Stock Activity and Related Information Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] New Accounting Pronouncements or Change in Accounting Principle [Table] Accounting Standards Update and Change in Accounting Principle [Table] Accrued liabilities and other Accrued Liabilities, Current Diluted earnings per share (in usd per share) Earnings Per Share, Diluted Significant transfers from level 2 to level 1 Fair Value, Assets, Level 2 to Level 1 Transfers, Amount Derivative Instruments and Hedging Activities Disclosure [Abstract] Derivative Instruments and Hedging Activities Disclosure [Abstract] Product warranty description Standard Product Warranty Description Cumulative Effect, Period of Adoption [Domain] Cumulative Effect, Period of Adoption [Domain] Tranche One Share-based Payment Arrangement, Tranche One [Member] Aggregate intrinsic value of stock options exercised Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value Cash and cash equivalents: Cash and Cash Equivalents, at Carrying Value [Abstract] Derivative [Line Items] Derivative [Line Items] Total environmental reserves Accrual for Environmental Loss Contingencies Contract liabilities Contract with Customer, Liability Award Type [Axis] Award Type [Axis] 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] Total fair value of vested restricted stock Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value Maximum Maximum [Member] Security Exchange Name Security Exchange Name Cash dividends paid Dividends, Common Stock, Cash Retained earnings Retained Earnings [Member] Measurement Basis [Axis] Measurement Basis [Axis] Components of Net Periodic Pension Benefit Expense (Income) Schedule of Net Benefit Costs [Table Text Block] Effective tax rate Effective Income Tax Rate Reconciliation, Percent 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] Total investing activities Net Cash Provided by (Used in) Investing Activities Ending balance, Outstanding, Weighted Average Remaining Contractual Life (Years) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Award Type [Domain] Award Type [Domain] Document Transition Report Document Transition Report Schedule of Accrued Liabilities in Company's Consolidated Balance Sheet Included Amounts Related to Restructuring Charges Schedule of Restructuring Reserve by Type of Cost [Table Text Block] Ending balance, exercisable, weighted average exercise price (in usd per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price Fair Value, by Balance Sheet Grouping [Table] Fair Value, by Balance Sheet Grouping [Table] Settlements made during the period Standard Product Warranty Accrual, Decrease for Payments Treasury stock Treasury Stock, Value Contract assets Contract with Customer, Asset, after Allowance for Credit Loss Earnings Per Share Earnings Per Share [Text Block] Organization, Consolidation and Presentation of Financial Statements [Abstract] Organization, Consolidation and Presentation of Financial Statements [Abstract] Current liabilities: Liabilities, Current [Abstract] Segment Reporting Information [Line Items] Segment Reporting Information [Line Items] Recurring Fair Value, Recurring [Member] International International [Member] International. Recently Adopted Accounting Pronouncements New Accounting Pronouncements, Policy [Policy Text Block] Statement of Financial Position [Abstract] Statement of Financial Position [Abstract]