Restructuring Charges - Restructuring Liabilities (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Reserve [Roll Forward]
Charges	$ 20.2	$ 42.9	$ 68.0
Cash Payments	(24.5)
Other	(1.9)
Restructuring liability, ending balance	6.1
2021 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	12.3
Charges	20.2
Restructuring liability, ending balance		12.3
2021 Restructuring Plan | Severance
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	1.4
Charges	12.4
Cash Payments	(10.9)
Other	0.1
Restructuring liability, ending balance	3.0	1.4
2021 Restructuring Plan | Contract terminations and facility exit-related
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	10.9
Charges	7.8
Cash Payments	(13.6)
Other	(2.0)
Restructuring liability, ending balance	$ 3.1	$ 10.9