Restructuring Charges - Restructuring Reserve and Utilization (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Reserve [Rollforward]
Balance at beginning of period	$ 8.0	$ 9.7	$ 10.3
Restructuring charge	15.9	18.9	15.8
Payments made during period			(16.4)
Payments made during period	(16.9)	(20.6)	(16.5)
Balance at end of period	7.0	8.0	9.7
Severance and termination
Restructuring Reserve [Rollforward]
Balance at beginning of period	4.7	2.6	5.8
Restructuring charge	14.0	18.9	9.9
Payments made during period			(13.1)
Payments made during period	(13.9)	(16.8)
Balance at end of period	4.8	4.7	2.6
Contract termination and other exit costs
Restructuring Reserve [Rollforward]
Balance at beginning of period	3.3	7.1	4.5
Restructuring charge	1.9	0.0	5.9
Payments made during period			(3.3)
Payments made during period	(3.0)	(3.8)
Balance at end of period	$ 2.2	$ 3.3	$ 7.1