Restructuring Charges - Restructuring Reserve and Utilization (Details) - USD ($) $ in Millions	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Restructuring Reserve [Rollforward]
Balance at beginning of period	$ 7.1	$ 8.0	$ 10.8	$ 9.7	$ 8.0	$ 9.7
Charge taken during the period	1.9	3.1	8.3	4.4
Payments made during period	(3.3)	(4.0)	(4.9)	(3.3)	(7.3)	(8.2)
Balance at end of period	5.7	7.1	14.2	10.8	5.7	14.2
Severance and termination
Restructuring Reserve [Rollforward]
Balance at beginning of period	3.8	4.7	4.9	2.6	4.7	2.6
Charge taken during the period	1.9	2.5	8.0	4.7
Payments made during period	(2.7)	(3.4)	(3.9)	(2.4)
Balance at end of period	3.0	3.8	9.0	4.9	3.0	9.0
Contract termination and other exit costs
Restructuring Reserve [Rollforward]
Balance at beginning of period	3.3	3.3	5.9	7.1	3.3	7.1
Charge taken during the period	0.0	0.6	0.3	(0.3)
Payments made during period	(0.6)	(0.6)	(1.0)	(0.9)
Balance at end of period	$ 2.7	$ 3.3	$ 5.2	$ 5.9	$ 2.7	$ 5.2