Restructuring and Other Related Charges - Charges Included in Statement of Earnings (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Cost and Reserve [Line Items]
Costs Incurred	$ 18.7	$ 26.8	$ 50.4
Cost of sales
Restructuring Cost and Reserve [Line Items]
Costs Incurred	2.8	8.2	13.8
Selling, general, and administrative expenses
Restructuring Cost and Reserve [Line Items]
Costs Incurred	$ 15.9	$ 18.6	$ 36.6