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Increase (decrease) in cash, cash equivalents, and restricted cash Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents, Period Increase (Decrease), Including Exchange Rate Effect Total other income (expense) Nonoperating Income (Expense) Loss Contingency, Nature [Domain] Loss Contingency, Nature [Domain] Share-based Payment Arrangement, Option [Member] Share-based Payment Arrangement, Option [Member] Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Finite-lived intangible liabilities, net Finite-Lived Intangible Liabilities, Net Finite-Lived Intangible Liabilities, Net Employee Severance [Member] Employee severance costs Employee Severance [Member] State and local Deferred State and Local Income Tax Expense (Benefit) 2025 Long-Term Debt, Maturity, Year Five Domestic Income (Loss) from Continuing Operations before Income Taxes, Domestic Expected rate of return on plan assets Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Expected Long-term Rate of Return on Plan Assets 2025 Accretion Finite-Lived Intangible Liabilities, Accretion, Year Five Finite-Lived Intangible Liabilities, Accretion, Year Five Interest Interest Paid, Excluding Capitalized Interest, Operating Activities Portion of sales price received on closing Disposal Group, Including Discontinued Operation, Portion of Sales Price Received on Closing Disposal Group, Including Discontinued Operation, Portion of Sales Price Received on Closing Long-term Debt, Fiscal Year Maturity [Abstract] Long-term Debt, Fiscal Year Maturity [Abstract] Total equity Balance (value) Balance (value) Stockholders' Equity, Including Portion Attributable to Noncontrolling Interest 2021 Amortization Finite-Lived Intangible Asset, Expected Amortization, Year One Income taxes, net Income Taxes Paid, Net Earnings (loss) per common share - Diluted (in dollars per share) Earnings (loss) per common share - Diluted (in dollars per share) Earnings Per Share, Diluted Revenues By Region Schedule of Revenue from External Customers and Long-Lived Assets, by Geographical Areas [Table Text Block] Schedule of Debt Schedule of Debt [Table Text Block] Non-cash operating lease expense Operating Lease, Right-Of-Use Assets Amortization Operating Lease, Right-Of-Use Assets Amortization Goodwill and Intangible Assets Goodwill and Intangible Assets, Policy [Policy Text Block] Shorter duration euro denominated defined benefit plans [Member] Shorter duration euro denominated defined benefit plans [Member] Shorter duration euro denominated defined benefit plans [Member] Depreciation expense Depreciation Entity Address, Address Line One Entity Address, Address Line One Tax credits Effective Income Tax Rate Reconciliation, Tax Credit, Amount Plan asset (gain) loss Other Comprehensive income (loss), plan asset (gain) loss, before tax Pretax change in the value of the plan assets resulting from experience different from that assumed that has not been recognized in net periodic benefit cost. Issuance of stock-based compensation awards (value) Shares Issued, Value, Share-based Payment Arrangement, before Forfeiture Entity Emerging Growth Company Entity Emerging Growth Company Total deferred Deferred Income Tax Expense (Benefit) Gross Amounts of Recognized Liabilities Presented in the Consolidated Balance Sheets Derivative Liability, Fair Value, Gross Liability Net Amount Derivative Liability, Fair Value, Amount Offset Against Collateral Accumulated amortization Finite-Lived Intangible Assets, Accumulated Amortization First Quarter 2021 [Member] First Quarter 2021 [Member] First Quarter 2021 Maximum [Member] Maximum [Member] Federal Reserve Effect Rate [Member] Fed Funds Effective Rate Overnight Index Swap Rate [Member] Preferred stock, shares authorized (in shares) Preferred Stock, Shares Authorized Noncontrolling Interests [Member] Noncontrolling Interest [Member] Equity compensation Deferred Tax Assets, Tax Deferred Expense, Compensation and Benefits, Share-based Compensation Cost Effective Income Tax Rate Reconciliation, Percent Effective Income Tax Rate Reconciliation, Percent Beginning balance Ending balance Accounts Receivable, Allowance for Credit Loss Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Schedule of Share-based Compensation Arrangements by Share-based Payment Award [Table] Offsetting Liabilities Offsetting Liabilities [Table Text Block] Trading Symbol Trading Symbol Derivative Activity Volume Type [Domain] Derivative Activity Volume Type [Domain] [Domain] for Derivative Activity Volume Type [Axis] Accumulated Other Comprehensive Income (Loss) [Table] Accumulated Other Comprehensive Income (Loss) [Table] Disposal Group Classification [Domain] Disposal Group Classification [Domain] Revenues by Region Schedule of Property, Plant, and Equipment by Location Schedule of Revenues from External Customers and Long-Lived Assets [Table] Summary of Valuation Allowance Summary of Valuation Allowance [Table Text Block] Cash Collateral Pledged Derivative, Collateral, Right to Reclaim Cash Derivative Financial Instruments Derivative, Collateral, Right to Reclaim Securities Foreign Income (Loss) from Continuing Operations before Income Taxes, Foreign Entity Shell Company Entity Shell Company Segment Reporting Information [Line Items] Segment Reporting Information [Line Items] Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis, Valuation Techniques [Line Items] Fair Value Measurement Inputs and Valuation Techniques [Line Items] Long Term Performance Restricted Stock Award [Member] Long Term Performance Restricted Stock Award [Member] Restricted stock awards related to the Long Term Performance Plan (LTPP), which may only become eligible for vesting based upon satisfaction of certain performance condition(s), market condition(s), and/or required service periods. Expired (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price Entity Public Float Entity Public Float Business Combinations Business Combinations Policy [Policy Text Block] Document Type Document Type ICFR Auditor Attestation Flag ICFR Auditor Attestation Flag Insurance Fund [Member] Insurance Fund [Member] Insurance Fund Other income (expense), net Other Nonoperating Income (Expense) Schedule of Warranty Accruals Schedule of Product Warranty Liability [Table Text Block] Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Granted (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross IBNR accrual Liability for Claims and Claims Adjustment Expense Accounts payables, other current liabilities, and taxes payable Increase (Decrease) in Accounts Payable and Accrued Liabilities Service [Member] Service [Member] Segments [Axis] Segments [Axis] SEC Schedule, 12-09, Valuation Allowances and Reserves [Domain] SEC Schedule, 12-09, Valuation Allowances and Reserves [Domain] Defined Benefit Pension Plans Retirement Benefits [Text Block] Net unrealized gain (loss) on derivative instruments, designated as cash flow hedges Other Comprehensive Income (Loss), Derivatives Qualifying as Hedges, Net of Tax Schedule of Accumulated Other Comprehensive Income (Loss) Schedule of Accumulated Other Comprehensive Income (Loss) [Table Text Block] Released (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value Unrealized gain (loss) on derivative instruments Net unrealized gain (loss) on derivative instruments designated as cash flow hedges Other Comprehensive Income (Loss), Unrealized Gain (Loss) on Derivatives Arising During Period, Net of Tax Schedule of Restructuring and Related Costs [Table] Schedule of Restructuring and Related Costs [Table] Fair Value, Inputs, Level 3 [Member] Fair Value, Inputs, Level 3 [Member] Contract with customer, asset, gross Contract with Customer, Asset, before Allowance for Credit Loss Guarantor Obligations, Nature [Domain] Guarantor Obligations, Nature [Domain] Lessee, Leases Lessee, Leases [Policy Text Block] Stock Repurchased During Period, Shares Stock Repurchased During Period, Shares Stock Repurchased During Period, Shares Other Current Assets [Member] Other Current Assets [Member] Benefits paid Defined Benefit Plan, Plan Assets, Benefits Paid Total warranty expense Product Warranty Expense (Benefit) Product Warranty Expense (Benefit) Total asset derivatives Derivative Asset Uncertain tax positions, including interest and penalties Effective Income Tax Rate Reconciliation, Tax Contingency, Amount Line of Credit [Member] Line of Credit [Member] Restructuring Cost and Reserve [Line Items] Restructuring Cost and Reserve [Line Items] Deferred tax liabilities, net Deferred Income Tax Liabilities, Net Derivative Financial Instruments Derivative Instruments and Hedging Activities Disclosure [Text Block] Less: current portion of warranty Product Warranty Accrual, Current Intangible assets, net Intangible Assets, Net (Excluding Goodwill) Current portion of warranty Standard Product Warranty Accrual, Current Trademarks and Trade Names [Member] Trademarks and Trade Names [Member] Discount from market price, purchase date Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Purchase Date Unearned revenue Deferred Revenue, Current Operating income (loss) Operating Income (Loss) Operating Income (Loss) Prepaid debt fees Payments of Debt Issuance Costs Cash Collateral Received Derivative, Collateral, Obligation to Return Cash Derivative Purchase Price Derivative Purchase Price Derivative Purchase Price Contract with Customer, Asset and Liability Contract with Customer, Contract Asset, Contract Liability, and Receivable [Table Text Block] Variable Rate [Axis] Variable Rate [Axis] Computers and software Computers and Software, Gross Amount before depreciation of computers and software. Repurchase of common stock Payments for Repurchase of Common Stock Payments received from disposal Disposal Group, Including Discontinued, Payments Received Disposal Group, Including Discontinued, Payments Received Vesting period Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period Thereafter Lessee, Operating Lease, Liability, to be Paid, after Year Five Taxes payable Taxes Payable, Current Entity Address, State or Province Entity Address, State or Province Fair values of the assets held by the postretirement benefits plans by asset category Schedule of Defined Benefit Plans Disclosures [Table Text Block] Finite-lived intangible liabilities, accumulated accretion Finite-Lived Intangible Liabilities, Accumulated Accretion Finite-Lived Intangible Liabilities, Accumulated Accretion Total other comprehensive income (loss), before tax Other Comprehensive Income (Loss), before Tax Expected federal income tax provision Effective Income Tax Rate Reconciliation at Federal Statutory Income Tax Rate, Amount Accounts payable Accounts Payable, Current Effect of change in exchange rates Effect of change in exchange rates Goodwill, Foreign Currency Translation Gain (Loss) Debt instrument, description of variable rate basis Debt Instrument, Description of Variable Rate Basis Term loans Secured Debt Accumulated deficit Retained Earnings (Accumulated Deficit) Repayments of Lines of Credit Repayments of Lines of Credit Operating Lease, Right-of-Use Asset Operating Lease, Right-of-Use Asset Total liability derivatives Foreign Currency Derivative Instruments Not Designated as Hedging Instruments, Liability at Fair Value Deferred Revenue Arrangement, by Type [Table] Deferred Revenue Arrangement, by Type [Table] Schedule of Effect of Significant Unobservable Inputs, Changes in Plan Assets Schedule of Effect of Significant Unobservable Inputs, Changes in Plan Assets [Table Text Block] Other Other Amounts Recognized in Other Comprehensive Income, before tax (Gain) Loss recognized in other comprehensive income (but not yet recognized in net periodic benefit cost) arising during the period. Converted upon acquisition, Weighted Average Grant Date Fair Value (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Shares Converted Upon Acquisition, Weighted Average Grant Date Fair Value Share-based Compensation Arrangement by Share-based Payment Award, Options, Shares Converted Upon Acquisition, Weighted Average Grant Date Fair Value Deferred Tax Liability Not Recognized (1) [Axis] Deferred Tax Liability Not Recognized (1) [Axis] Information by deferred tax liability has not been recognized. 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Expense Finite-lived Intangible Assets Amortization Expense [Table Text Block] Exercised, Aggregate Intrinsic Value Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value Derivative [Line Items] Derivative [Line Items] Accumulated Net Gain (Loss) from Designated or Qualifying Cash Flow Hedges [Member] Accumulated Net Gain (Loss) from Cash Flow Hedges Attributable to Parent [Member] Gross decrease to positions in prior years Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions Contract with customer, liability Contract with Customer, Liability Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Table] Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Table] Schedule of Finite-Lived Intangible Assets [Table] Schedule of Intangible Assets [Table] Schedule of Finite-Lived Intangible Assets [Table] Foreign exchange forward contracts Foreign Currency Derivative Instruments Not Designated as Hedging Instruments, Asset at Fair Value Line of credit facility, maximum borrowing capacity Multicurrency revolving line of credit Line of Credit Facility, Maximum Borrowing Capacity U.S. federal Internal Revenue Service (IRS) [Member] Award Type [Axis] Award Type [Axis] Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract] Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract] Discount rate Defined Benefit Plan, Assumptions Used Calculating Net Periodic Benefit Cost, Discount Rate Plan costs Other Labor-related Expenses Amortization of prepaid debt fees Amortization of Debt Issuance Costs Derivative Financial Instruments Derivative, Collateral, Obligation to Return Securities Defined Benefit Pension Plans Pension and Other Postretirement Plans, Pensions, Policy [Policy Text Block] Retained Earnings (Accumulated Deficit) [Member] Retained Earnings [Member] Goodwill, Written off Related to Sale of Business Unit Goodwill, Written off Related to Sale of Business Unit Goodwill, Written off Related to Sale of Business Unit Preferred stock, shares outstanding (in shares) Preferred Stock, Shares Outstanding Measurement Basis [Axis] Measurement Basis [Axis] Warranty reserves Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals, Warranty Reserves Schedule of Net Periodic Pension Benefit Costs Schedule of Net Benefit Costs [Table Text Block] Summary Significant Accounting Policies Significant Accounting Policies [Text Block] Net cash used in investing activities Net Cash Provided by (Used in) Investing Activities Outstanding, Weighted Average Remaining Contractual Term Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term Share-based Payment Arrangement, Noncash Expense [Abstract] Share-based Payment Arrangement, Noncash Expense [Abstract] Award Type [Domain] Award Type [Domain] Unsecured surety bonds in force Guarantor Obligations, Current Carrying Value Effect of change in exchange rates Finite-Lived Intangible Liabilities, Foreign Currency Translation Gain Loss Finite-Lived Intangible Liabilities, Foreign Currency Translation Gain Loss Allowance for Credit Losses on Financing Receivables Financing Receivable, Allowance for Credit Loss [Table Text Block] Schedule of Restructuring Reserve by Type of Cost Schedule of Restructuring Reserve by Type of Cost [Table Text Block] Exercisable, ending balance (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price Discontinued Operations and Disposal Groups [Abstract] Share Repurchase Policy Share Repurchase Policy [Policy Text Block] Describes the company's accounting policy related to share repurchases under a program authorized by its Board of Directors. Share repurchases are made in the open market or in privately negotiated transactions and in accordance with applicable securities and state laws.[Policy Text Block] Line of credit facility, unused capacity, commitment fee percentage Line of Credit Facility, Unused Capacity, Commitment Fee Percentage Fair Value, by Balance Sheet Grouping [Table] Fair Value, by Balance Sheet Grouping [Table] Earnings Per Share Earnings Per Share [Text Block] Discount rate Defined Benefit Plan, Assumptions Used Calculating Benefit Obligation, Discount Rate Current liabilities Liabilities, Current [Abstract] Release for Divestiture Defined Benefit Plan, Plan Assets Level 3 Reconciliation, Increase (Decrease) for Assets Transferred into (out of) Level 3 Proceeds from Lines of Credit Proceeds from Lines of Credit New Accounting Pronouncements New Accounting Pronouncements, Policy [Policy Text Block] Statement of Financial Position [Abstract] Statement of Financial Position [Abstract]