Restructuring Charges - Restructuring Liabilities (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Roll Forward]
Charges	$ 98.0	$ 20.2	$ 42.9
2023 Transformation Plan
Restructuring Reserve [Roll Forward]
Charges	68.6
2023 Transformation Plan | Employee severance
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	0.0
Charges	57.3
Cash payments	(28.4)
Non-cash items	0.1
Restructuring liability, ending balance	29.0	0.0
2023 Transformation Plan | Facility exit-related and asset impairments
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	0.0
Charges	24.1
Cash payments	(0.3)
Non-cash items	(23.6)
Restructuring liability, ending balance	0.2	0.0
2023 Transformation Plan | Contract terminations and other
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	0.0
Charges	19.1
Cash payments	(14.7)
Non-cash items	(1.2)
Restructuring liability, ending balance	3.2	0.0
2022 Restructuring Plan
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	6.1
Charges	98.0
Cash payments	(47.2)
Non-cash items	(23.3)
Restructuring liability, ending balance	33.6	6.1
2022 Restructuring Plan | Employee severance
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	3.0
Charges	(0.5)
Cash payments	(1.5)
Non-cash items	0.0
Restructuring liability, ending balance	1.0	3.0
2022 Restructuring Plan | Facility exit-related and asset impairments
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	1.2
Charges	(2.0)
Cash payments	(0.4)
Non-cash items	1.4
Restructuring liability, ending balance	0.2	1.2
2022 Restructuring Plan | Contract terminations and other
Restructuring Reserve [Roll Forward]
Restructuring liability, beginning balance	1.9
Charges	0.0
Cash payments	(1.9)
Non-cash items	0.0
Restructuring liability, ending balance	$ 0.0	$ 1.9