Income Taxes - Income Tax Contingencies (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 113.4	$ 116.0	$ 151.3
Tax positions related to current year:
Additions	5.8	7.7	5.3
Tax positions related to prior years:
Additions	6.9	3.3	18.1
Reductions	(2.5)	(3.6)	(52.0)
Settlements	0.0	(9.4)	(1.8)
Lapses in statutes of limitations	(7.6)	(0.6)	(4.9)
Balance at end of year	$ 116.0	$ 113.4	$ 116.0