Restructuring - Activity in Restructuring Programs (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Restructuring Reserve [Roll Forward]
Balance at beginning of period	$ 10.5	$ 18.0	$ 14.9	$ 12.3
Charged to expense - termination benefits	0.7	4.1	4.0	16.6
Charged to expense - other	0.9	1.4	3.8	5.5
Payments	(2.6)	(3.9)	(13.4)	(12.1)
Currency translation adjustment and other	(0.3)	(1.9)	(0.1)	(4.6)
Balance at end of period	9.2	17.7	9.2	17.7
Restructuring Program 2020 to 2023 | Other Operating Expense, Net
Restructuring Reserve [Roll Forward]
Non-cash charges	$ 0.2	$ 1.2	$ 2.1	$ 6.0