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Accumulated other comprehensive loss Comprehensive Income (Loss) Note [Text Block] Equity Components Equity Components [Axis] Due 2029 Due 2029 [Member] Due 2029 Gain (Loss) from Components Excluded from Assessment of Fair Value Hedge Effectiveness, Net Gain (Loss) from Components Excluded from Assessment of Fair Value Hedge Effectiveness, Net Entity Interactive Data Current Entity Interactive Data Current Finance lease liability - current Finance Lease, Liability, Current Deferred income taxes Deferred Income Tax Liabilities, Net Compensation Actually Paid vs. Other Measure Compensation Actually Paid vs. Other Measure [Text Block] Entity Small Business Entity Small Business Total comprehensive income Comprehensive Income (Loss), Net of Tax, Attributable to Parent Debt Instrument, Unamortized Discount Debt Instrument, Unamortized Discount Termination Date Trading Arrangement Termination Date Property, Plant, and Equipment [Line Items] Property, Plant, and Equipment [Line Items] Fair 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Investment Hedging Net Investment Hedging [Member] Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest, Total Income before taxes Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest Insider Trading Policies and Procedures Not Adopted Insider Trading Policies and Procedures Not Adopted [Text Block] Carrying  Amount Intangible Asset, Finite-Lived, before Accumulated Amortization Antidilutive Securities, Name Antidilutive Securities, Name [Domain] Changed Peer Group, Footnote Changed Peer Group, Footnote [Text Block] Alternative Investment Alternative Investment Machinery and equipment Machinery and Equipment [Member] Forgone Recovery due to Expense of Enforcement, Amount Forgone Recovery due to Expense of Enforcement, Amount Executive Category: Executive Category [Axis] Leased property under finance leases Leaseholds and Leasehold Improvements [Member] Other Comprehensive Income (Loss), Tax Other Comprehensive Income 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Loss, Defined Benefit Plan, Prior Service Cost (Credit), after Tax Awards Close in Time to MNPI Disclosures Awards Close in Time to MNPI Disclosures [Table] Term loan due 2026 Loans Payable, Noncurrent Pension Plans Pension Plan [Member] Common Shares Common Stock [Member] Inventory step-up amortization Inventory step-up amortization Inventory step-up amortization Compensation Actually Paid vs. Company Selected Measure Compensation Actually Paid vs. Company Selected Measure [Text Block] Derivative Instruments in Hedges, Net Investment in Foreign Operations, Assets, Fair Value Derivative Instruments in Hedges, Net Investment in Foreign Operations, Assets, Fair Value Enterprise management system Enterprise Management Systems [Member] Enterprise Management Systems Cover [Abstract] Cover [Abstract] Defined Benefit Plan, Annuitization Defined Benefit Plan, Annuitization Defined Benefit Plan, Annuitization Derivative Contract Derivative Contract [Domain] Currency effect Goodwill, Foreign Currency Translation, Gain (Loss) Equity Awards Adjustments Equity Awards Adjustments [Member] Hedging Relationship [Domain] Hedging Relationship [Domain] Total shareholders' equity Liabilities and Equity Stock Options Share-Based Payment Arrangement, Option [Member] Gains (losses) on foreign currency forward contracts Gains (losses) on foreign currency forward contracts Gain (Loss) on Foreign Currency Derivative Instruments Not Designated as Hedging Instruments Segment Reporting, Entity-Wide Information Not Provided as Part of Reportable Segment, Geographical Area, Revenue and Long-Lived Asset [Table] Segment Reporting, Entity-Wide Information Not Provided as Part of Reportable Segment, Geographical Area, Revenue and Long-Lived Asset [Table] Advanced Technology Solutions Advanced Technology Systems [Member] Advanced technology systems. Segments [Axis] Segments [Axis] Additional 402(v) Disclosure Additional 402(v) Disclosure [Text Block] Schedule of Fair Value Hedging Instruments, Statements of Financial Performance and Financial Position, Location Schedule of Fair Value Hedging Instruments, Statements of Financial Performance and Financial Position, Location [Table Text Block] Inventory Disclosure [Abstract] Inventory Disclosure [Abstract] Tabular List, Table Tabular List [Table Text Block] Other - net Other Nonoperating Income (Expense) Long-term debt Long-Term Debt [Text Block] Name Awards Close in Time to MNPI Disclosures, Individual Name 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] Movement in Standard and Extended Product Warranty Accrual, Increase (Decrease) [Roll Forward] Movement in Standard and Extended Product Warranty Accrual, Increase (Decrease) [Roll Forward] Long-Lived Asset, Class [Domain] Long-Lived Asset, Class [Domain] Raw materials and component parts Inventory, Raw Materials and Supplies, Gross Receivables - net Receivables, Net, Current Property, Plant, and Equipment [Table] Property, Plant, and Equipment [Table] Adjustment to Compensation: Adjustment to Compensation [Axis] Hedging Designation [Domain] Hedging Designation [Domain] Rule 10b5-1 Arrangement Terminated Rule 10b5-1 Arrangement Terminated [Flag] Aggregate Erroneous Compensation Amount Aggregate Erroneous Compensation Amount Statement of Cash Flows [Abstract] Statement of Cash Flows [Abstract] Derivative Fair Value Of Derivative Liability, Both Designated and Not Designated as Hedges Derivative Fair Value Of Derivative Liability, Both Designated and Not Designated as Hedges Derivative Fair Value Of Derivative Liability, Both Designated and Not Designated as Hedges Hedging Designation [Axis] Hedging Designation [Axis] Aggregate Available Trading Arrangement, Securities Aggregate Available Amount Pension settlement charge Pension settlement charge Defined Benefit Plan, Benefit Obligation, Payment for Settlement Name Measure Name Income taxes Income Tax Disclosure [Text Block] Accounts payable Accounts Payable, Current Pay vs Performance Disclosure [Line Items] Derivative Instruments Not Designated as Hedging Instruments, Asset, at Fair Value Derivative Instruments Not Designated as Hedging Instruments, Asset, at Fair Value Fair Value Hierarchy and NAV Fair Value Hierarchy and NAV [Domain] Other non-cash expense Other Noncash Income (Expense) Debt Instrument [Line Items] Debt Instrument [Line Items] Corporate Performance Measurement Period Corporate Performance Measurement Period Corporate performance measurement period. Pay vs Performance Disclosure Pay vs Performance Disclosure [Table] Retirement Plan Type Retirement Plan Type [Domain] Additional Paid-in Capital Additional Paid-in Capital [Member] Entity Filer Category Entity Filer Category Name Trading Arrangement, Individual Name Deferred compensation plans Other Liabilities, Fair Value Disclosure Cash and cash equivalents Cash and Cash Equivalent Retirement Plan Sponsor Location [Axis] Retirement Plan Sponsor Location [Axis] Company Selected Measure Amount Company Selected Measure Amount Segment Reporting, Reconciliation of Profit (Loss) by Segment to Consolidated Segment Reporting, Reconciliation of Profit (Loss) by Segment to Consolidated [Table Text Block] Not Designated as Hedging Instrument Not Designated as Hedging Instrument [Member] Short-Term Debt Short-Term Debt [Text Block] Depreciation and amortization Depreciation, Depletion and Amortization Retirement Plan Sponsor Location Retirement Plan Sponsor Location [Domain] Inventories - gross Inventory, Gross Current assets: Assets, Current [Abstract] Non-PEO NEO Non-PEO NEO [Member] Entity Address, Address Line One Entity Address, Address Line One Income tax expense Income Tax Expense (Benefit) Cost of sales Cost of Product and Service Sold Award Timing Method Award Timing Method [Text Block] Consolidation Consolidation, Policy [Policy Text Block] Increase in cash and cash equivalents Cash, Cash Equivalent, Restricted Cash, and Restricted Cash Equivalent, Period Increase (Decrease), Including Exchange Rate Effect and Discontinued Operation Forgone Recovery, Explanation of Impracticability Forgone Recovery, Explanation of Impracticability [Text Block] Amortization of net actuarial gain Defined Benefit Plan, Amortization of Gain (Loss) AOCI Attributable to Parent, Net of Tax [Roll Forward] AOCI Attributable to Parent, Net of Tax [Roll Forward] Net income Net income Net Income (Loss) Attributable to Parent Long-term Debt, Type Long-Term Debt, Type [Axis] Erroneous Compensation Analysis Erroneous Compensation Analysis [Text Block] Balance Sheet Location [Axis] Location, Statement of Financial Position, Balance [Axis] Proceeds from sale of property, plant and equipment Proceeds from Sale of Property, Plant, and Equipment Statement [Table] Statement [Table] Restatement Determination Date: Restatement Determination Date [Axis] Summary of Accumulated Other Comprehensive Loss Schedule of Accumulated Other Comprehensive Income (Loss) [Table Text Block] Schedule of Operating Segments, Long Lived Assets Schedule of Operating Segments, Long Lived Assets [Table Text Block] Schedule of Operating Segments, Long Lived Assets Interest and investment income Investment Income, Interest Postretirement obligations Liability, Other Postretirement Defined Benefit Plan, Noncurrent Pension Benefits Adjustments, Footnote Pension Benefits Adjustments, Footnote [Text Block] Derivative Instruments and Hedging Activities Disclosure [Abstract] Derivative Instruments and Hedging Activities Disclosure [Abstract]