Litigation and Contingencies -Schedule of Other Assets, Noncurrent (Details) - Asbestos Claims - USD ($) $ in Millions	Jun. 30, 2023	Dec. 31, 2022
Loss Contingencies [Line Items]
Gross liabilities	$ 103.6	$ 105.2
Projected insurance recoveries	66.4	68.6
Accrued expenses and other current liabilities
Loss Contingencies [Line Items]
Gross liabilities	27.9	27.1
Other long-term liabilities
Loss Contingencies [Line Items]
Gross liabilities	75.7	78.1
Prepaid expenses and other current assets
Loss Contingencies [Line Items]
Projected insurance recoveries	19.0	21.2
Other assets
Loss Contingencies [Line Items]
Projected insurance recoveries	$ 47.4	$ 47.4