Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Current
Compensation, pension and post-retirement benefits	$ 95.1	$ 112.5
Claims, including self-insurance and litigation	33.6	25.9
Income and other taxes	28.9	23.0
Deferred revenue	135.2	133.7
Sales and product allowances	39.6	47.6
Warranty	29.7	33.4
Other	75.5	115.9
Total	437.6	492.0
Long-term
Compensation, pension and post-retirement benefits	13.5	16.3
Claims, including self-insurance and litigation	82.0	63.4
Income and other taxes	24.8	53.6
Deferred revenue	48.7	56.3
Sales and product allowances	0.0	0.0
Warranty	13.3	16.0
Other	31.9	17.7
Total	$ 214.2	$ 223.3