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Equity Incentive Program - Share Based Compensation Expense (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Document Fiscal Year Focus 2022    
Pre-tax compensation expense $ 28.6 $ 32.1 $ 17.3
Tax benefit 4.4 5.1 0.0
Total stock-based compensation expense, net of tax 24.2 27.0 17.3
Selling and Administrative Expenses      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Pre-tax compensation expense 21.4 25.0 9.4
Research and Development Expense      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Pre-tax compensation expense 5.6 5.5 6.2
Cost of Sales      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Pre-tax compensation expense $ 1.6 $ 1.6 $ 1.7
Share-based Payment Arrangement, Option [Member]      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate 34.30% 36.00%  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 1.2    
Weighted average period for compensation expense to be recognized 1 year 1 month 6 days    
Performance Shares [Member]      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 9.5    
Weighted average period for compensation expense to be recognized 1 year 1 month 6 days    
Maximum [Member] | Share-based Payment Arrangement, Option [Member]      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate     40.60%