Benefit Plans - Net Periodic Benefit Cost and Other Comprehensive (Loss) Income, Before Income Tax Effects (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Pension Benefits | U.S. Plans
Net Periodic Benefit Cost:
Service cost	$ 4.4	$ 5.3	$ 5.8
Interest cost	11.3	10.8	9.5
Expected return on plan assets	(13.0)	(12.2)	(12.0)
Net periodic benefit cost	2.7	3.9	3.3
Gain due to settlement	(0.5)	(0.6)	0.0
Total net periodic benefit cost recognized	2.2	3.3	3.3
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Loss):
Net actuarial loss (gain)	0.4	(12.5)	(6.4)
Amortization of net actuarial gain	0.5	0.6	0.0
Total recognized in other comprehensive income (loss)	0.9	(11.9)	(6.4)
Total recognized in net periodic benefit cost and other comprehensive income (loss)	3.1	(8.6)	(3.1)
Pension Benefits | Non-U.S. Plans
Net Periodic Benefit Cost:
Service cost	3.3	4.3	3.8
Interest cost	5.9	4.6	6.1
Expected return on plan assets	(11.8)	(12.2)	(11.0)
Amortization of prior-service cost	0.1	0.2	0.1
Amortization of net actuarial loss	0.3	4.9	2.9
Total net periodic benefit cost recognized	(2.2)	1.8	1.9
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Loss):
Net actuarial loss (gain)	(33.3)	(43.3)	16.3
Amortization of net actuarial gain	(0.3)	(4.9)	(2.9)
Amortization of prior service cost	(0.1)	(0.2)	(0.1)
Effect of foreign currency exchange rate changes	(3.2)	(1.4)	4.2
Total recognized in other comprehensive income (loss)	(36.9)	(49.8)	17.5
Total recognized in net periodic benefit cost and other comprehensive income (loss)	(39.1)	(48.0)	19.4
Other Postretirement Benefits
Net Periodic Benefit Cost:
Service cost	0.0	0.0
Interest cost	0.7	0.6	0.5
Amortization of prior-service cost	0.0	0.1	0.0
Amortization of net actuarial loss	0.0	0.1	0.0
Net periodic benefit cost	0.7	0.8	0.5
Gain due to settlement	0.0	0.0	0.3
Total net periodic benefit cost recognized	0.7	0.8	0.8
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income (Loss):
Net actuarial loss (gain)	(5.0)	(1.6)	2.0
Amortization of net actuarial gain	0.0	(0.1)	0.0
Prior service cost	0.0	1.9	(1.6)
Amortization of prior service cost	0.0	(0.1)	0.0
Total recognized in other comprehensive income (loss)	(5.0)	0.1	0.4
Total recognized in net periodic benefit cost and other comprehensive income (loss)	$ (4.3)	$ 0.9	$ 1.2