Supplemental Financial Statement Information - Narrative (Details) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($) segment	Jun. 30, 2022 USD ($) segment	Jun. 30, 2023 USD ($) segment	Jun. 30, 2022 USD ($) segment	Dec. 31, 2022 USD ($)
Restructuring Cost and Reserve [Line Items]
Restructuring charges (credits)	$ 2.7	$ (1.3)	$ 2.7	$ (2.4)
Number of positions with decreased severance-related reserve | segment		(30)		(50)
Restructuring reserve	11.7		11.7		$ 9.8
Supplier finance program, obligation	$ 15.7		$ 15.7		$ 23.7
Restructuring and Related Cost, Expected Number of Positions Eliminated | segment	40		40
Other Current Liabilities
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 7.2		$ 7.2
Other Noncurrent Liabilities
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 4.5		$ 4.5