Restructuring Charges - Restructuring Reserve and Utilization (Details) - USD ($) $ in Millions	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Restructuring Reserve [Rollforward]
Balance at beginning of period	$ 6.4	$ 5.8	$ 7.0	$ 5.7	$ 7.1	$ 8.0	$ 7.0	$ 8.0
Charge taken during the period	0.9	4.6	3.6	5.9	1.9	3.1
Payments made during period	(3.3)	(4.0)	(4.8)	(4.9)	(3.3)	(4.0)	(12.1)	(12.3)
Balance at end of period	4.0	6.4	5.8	6.7	5.7	7.1	4.0	6.7
Severance
Restructuring Reserve [Rollforward]
Balance at beginning of period	4.7	3.9	4.8	3.0	3.8	4.7	4.8	4.7
Charge taken during the period	0.7	3.9	3.1	5.5	1.9	2.5
Payments made during period	(2.9)	(3.1)	(4.0)	(4.3)	(2.7)	(3.4)
Balance at end of period	2.5	4.7	3.9	4.2	3.0	3.8	2.5	4.2
Contract termination and other exit costs
Restructuring Reserve [Rollforward]
Balance at beginning of period	1.7	1.9	2.2	2.7	3.3	3.3	2.2	3.3
Charge taken during the period	0.2	0.7	0.5	0.4	0.0	0.6
Payments made during period	(0.4)	(0.9)	(0.8)	(0.6)	(0.6)	(0.6)
Balance at end of period	$ 1.5	$ 1.7	$ 1.9	$ 2.5	$ 2.7	$ 3.3	$ 1.5	$ 2.5