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	$ 5.9	$ 3.3
Costs Incurred	11.5	13.1	$ 4.9
Paid / Settled	(14.8)	(10.5)
Ending balance	2.6	5.9	3.3
Employee severance related
Restructuring Reserve [Roll Forward]
Beginning balance	4.8	3.3
Costs Incurred	10.6	11.5	4.9
Paid / Settled	(13.9)	(10.0)
Ending balance	1.5	4.8	3.3
Facility exit and other related
Restructuring Reserve [Roll Forward]
Beginning balance	1.1	0.0
Costs Incurred	0.9	1.6
Paid / Settled	(0.9)	(0.5)
Ending balance	$ 1.1	$ 1.1	$ 0.0