Restructuring - Restructuring and Related Costs (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Schedule of restructuring and related costs
Restructuring charges	$ 10.6	$ 18.6	$ 47.3	$ 33.6
Selling and administrative expense
Schedule of restructuring and related costs
Restructuring charges	10.3	13.4	27.0	26.4
Research, development and engineering expense
Schedule of restructuring and related costs
Restructuring charges	(0.5)	0.5	2.5	1.1
Loss on sale of assets, net
Schedule of restructuring and related costs
Restructuring charges	0.0	0.8	0.0	1.3
Services
Schedule of restructuring and related costs
Restructuring charges	(0.3)	3.6	16.0	4.2
Products
Schedule of restructuring and related costs
Restructuring charges	$ 1.1	$ 0.3	$ 1.8	$ 0.6