Accrued Expenses and Other Liabilities - Schedule of Accrued Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Current
Compensation and other post-retirement benefits	$ 253.2	$ 262.1
Claims, including self-insurance and litigation	5.6	13.8
Pension obligations	4.5	4.5
Taxes, income and other	53.0	65.5
Deferred revenue	457.6	376.4
Sales and product allowances	21.6	20.2
Warranty	23.0	22.9
Other	142.2	134.5
Total	960.7	899.9
Long-term
Compensation and other post-retirement benefits	58.2	66.6
Claims, including self-insurance and litigation	13.9	14.3
Pension obligations	133.9	167.1
Taxes, income and other	1,011.2	887.0
Deferred revenue	33.8	34.2
Sales and product allowances	0.0	0.0
Warranty	2.2	2.0
Other	33.2	62.2
Total	$ 1,286.4	$ 1,233.4