Restructuring and Other Related Charges - Accrual Balance and Utilization by Type of Restructuring Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Reserve [Roll Forward]
Beginning balance	$ 15.4	$ 32.6
Costs Incurred	18.7	26.8	$ 50.4
Paid/ Settled	(23.3)	(44.0)
Ending balance	10.8	15.4	32.6
Employee severance related
Restructuring Reserve [Roll Forward]
Beginning balance	14.8	32.4
Costs Incurred	12.8	21.1	46.9
Paid/ Settled	(17.5)	(38.7)
Ending balance	10.1	14.8	32.4
Facility exit and other related
Restructuring Reserve [Roll Forward]
Beginning balance	0.6	0.2
Costs Incurred	5.9	5.7
Paid/ Settled	(5.8)	(5.3)
Ending balance	$ 0.7	$ 0.6	$ 0.2