Accounts Receivable Purchase and Sales Agreement (Details) - USD ($) $ in Millions	Jul. 01, 2021	Jun. 30, 2023	Dec. 31, 2022	Jun. 01, 2022	Jun. 30, 2021	Jan. 31, 2017
5.10% senior notes due September 2023
Accounts Receivable Sales Agreement
Interest rate on senior notes (as a percent)		5.10%	5.10%
0.75% senior exchangeable notes due January 2024
Accounts Receivable Sales Agreement
Interest rate on senior notes (as a percent)		0.75%	0.75%			0.75%
A/R Purchase Agreement
Accounts Receivable Sales Agreement
Agreement amount					$ 250.0
Receivables sold		$ 203.0	$ 208.0
A/R Purchase Agreement | Asset Pledged as Collateral
Accounts Receivable Sales Agreement
Balance of receivables		$ 52.8	$ 62.3
A/R Purchase Agreement, First Amendment
Accounts Receivable Sales Agreement
Agreement amount	$ 150.0
Agreement expiration term extension (in years)	2 years
A/R Purchase Agreement, Third Amendment
Accounts Receivable Sales Agreement
Agreement amount				$ 250.0
A/R Purchase Agreement, Third Amendment | 0.75% senior exchangeable notes due January 2024 | Accelerated Expiration of Agreement, October 17, 2023
Accounts Receivable Sales Agreement
Interest rate on senior notes (as a percent)		0.75%
Threshold amount of remaining principal balance		$ 88.5
A/R Purchase Agreement, Third Amendment | Maximum
Accounts Receivable Sales Agreement
Agreement amount				$ 300.0