Restructuring and Other Related Charges - Accrual Balance and Utilization by Type of Restructuring Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Reserve [Roll Forward]
Beginning balance	$ 10.8	$ 15.4
Costs Incurred		18.7	$ 26.8
Paid/ Settled	(10.8)	(23.3)
Ending balance	0.0	10.8	15.4
Employee severance related
Restructuring Reserve [Roll Forward]
Beginning balance	10.1	14.8
Costs Incurred		12.8	21.1
Paid/ Settled	(10.1)	(17.5)
Ending balance	0.0	10.1	14.8
Facility exit and other related
Restructuring Reserve [Roll Forward]
Beginning balance	0.7	0.6
Costs Incurred		5.9
Paid/ Settled	(0.7)	(5.8)
Ending balance	$ 0.0	$ 0.7	$ 0.6