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Income before income taxes Total before tax Income (Loss) from Continuing Operations before Equity Method Investments, Income Taxes, Noncontrolling Interest Adjustments to reconcile net income to net cash provided by operations: Adjustments to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] New Accounting Pronouncements or Change in Accounting Principle [Line Items] New Accounting Pronouncements or Change in Accounting Principle [Line Items] Entity Small Business Entity Small Business Entity File Number Entity File Number Operating lease liabilities in Accrued liabilities Operating Lease, Liability, Current Changes in operating assets and liabilities Increase (Decrease) in Operating Capital Income Tax Authority, Name [Axis] Income Tax Authority, Name [Axis] Debt term Debt Instrument, Term Components of accumulated other comprehensive loss, net of tax Schedule of Accumulated Other Comprehensive Income (Loss) [Table Text Block] Options forfeited, weighted-average exercise price per share (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price Payments on revolver Repayments of Lines of Credit Accrued liabilities Accrued Liabilities, Current Tax effect of changes in pension plans including prior service cost, transition obligation, net actuarial loss and foreign currency translation adjustments Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, Tax, Attributable to Parent Common stock repurchased Stock Repurchased During Period, Value Derivative assets, fair value Derivative Asset, Fair Value, Gross Asset Schedule of stock-based compensation expense Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items] Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items] 2.95% Senior unsecured notes, due January 2021 Senior 2.95% Unsecured Notes Due January 2021 [Member] Senior 2.95% Unsecured Notes Due January 2021 [Member] Earnings per common share diluted: Earnings Per Share, Diluted [Abstract] Other assets Other Assets, Miscellaneous, Noncurrent Nonoperating expense (income) Nonoperating Income (Expense) Current Liabilities Liabilities, Current [Abstract] Dividends declared and paid Dividends, Common Stock Selling, marketing, general and administrative Selling, marketing, general and administrative Selling, General and Administrative Expense Early Retirement Action Special Termination Benefits [Member] Options exercised (in shares) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Interest rate derivatives Interest Rate Contract [Member] LIABILITIES AND SHAREHOLDERS’ EQUITY Liabilities and Equity [Abstract] Percent of Revenue (as percent) Percentage Of Revenue Percentage of Revenue. Restricted stock units/awards outstanding, at beginning of period (in dollar per shares) Restricted stock units/awards outstanding, at end of period (in dollar per shares) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value Revenue Revenue Revenue from Contract with Customer, Excluding Assessed Tax Government and institutional money market funds Money Market Funds [Member] Income Taxes Income Tax Disclosure [Text Block] Assets Assets, Fair Value Disclosure [Abstract] Lessee, operating lease, remaining lease contract Lessee, Operating Lease, Term of Contract Segment Reporting [Abstract] Segment Reporting [Abstract] Remainder of 2020 Lessee, Operating Lease, Liability, Payments, Remainder of Fiscal Year Statement of Cash Flows [Abstract] Statement of Cash Flows [Abstract] Interest expense Interest expense Interest Expense Class of Stock [Axis] Class of Stock [Axis] Workforce Reductions Plan 2018 Workforce Reduction Plan 2018 [Member] Workforce Reduction Plan 2018 [Member] Weighted average remaining lease term Operating Lease, Weighted Average Remaining Lease Term Derivative Contract [Domain] Derivative Contract [Domain] Earnings Per Share [Abstract] Earnings Per Share [Abstract] Number of shares authorized to be repurchased (shares) Stock Repurchase Program, Number of Shares Authorized to be Repurchased Leases [Abstract] Finite-Lived Intangible Assets, Major Class Name [Domain] Finite-Lived Intangible Assets, Major Class Name [Domain] Options exercised, weighted-average exercise price per share (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price Subsequent Event [Line Items] Subsequent Event [Line Items] Net Amount of Derivative Assets and Liabilities Offsetting Assets Liabilities [Table Text Block] Offsetting Assets Liabilities Minimum Minimum [Member] Other non-current liabilities Accrued Liabilities, Other Non-current [Member] Accrued Liabilities, Other Non-current [Member] Security Exchange Name Security Exchange Name Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code Entity Address, Address Line One Entity Address, Address Line One Current Assets Assets, Current [Abstract] Disaggregation of Revenue Disaggregation of Revenue [Table Text Block] Restructuring Cost and Reserve [Line Items] Restructuring Cost and Reserve [Line Items] Lease expense Operating Lease, Cost Issuance of stock under stock plans and other (in shares) Shares Issued, Shares, Share-based Payment Arrangement, after Forfeiture Work in process Inventory, Work in Process, Gross 3.50% Senior unsecured notes, due December 2026 Senior 3.50% Unsecured Notes Due December 2026 [Member] Senior 3.50% Unsecured Notes Due December 2026 [Member] Measurement Frequency [Domain] Measurement Frequency [Domain] Statement of Comprehensive Income [Abstract] Statement of Comprehensive Income [Abstract] Other non-current liabilities Other Liabilities, Noncurrent Gross margin Gross Profit Common stock cash dividends per share, declared (in dollars per share) Dividends Payable, Amount Per Share Dividend payments to shareholders Payments of Ordinary Dividends, Common Stock New Accounting Pronouncements and Changes in Accounting Principles [Abstract] New Accounting Pronouncements and Changes in Accounting Principles [Abstract] Earnings Per Share Earnings Per Share [Text Block] Class of Stock [Domain] Class of Stock [Domain] Tax settlement Effective Income Tax Rate Reconciliation, Tax Settlement, Foreign, Amount Earnings per share Earnings Per Share Reconciliation [Abstract] Fair Value by Asset Class [Domain] Asset Class [Domain] Common stock repurchased (in shares) Stock Repurchased During Period, Shares Maximum Maximum [Member] Title of 12(b) Security Title of 12(b) Security