Restructuring Costs - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 73.9	$ 20.7	$ 46.2
Multi-Year Restructuring Program
Restructuring Cost and Reserve [Line Items]
Restructuring charges	71.1
Total expected cost	$ 95.0
Forecast | Multi-Year Restructuring Program
Restructuring Cost and Reserve [Line Items]
Expected cost remaining				$ 7.0	$ 13.0