Restructuring Costs - Reserve (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	$ 7.9
Pre-tax Restructuring Costs	5.4	$ 10.3	$ 3.9
Utilization and Foreign Exchange	(9.3)
Ending accrued restructuring balance	4.0	7.9
2023 Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.0
Pre-tax Restructuring Costs	1.2	0.0	$ 0.0
Utilization and Foreign Exchange	(0.3)
Ending accrued restructuring balance	0.9	0.0
2022 and Prior Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	7.9
Pre-tax Restructuring Costs	4.2
Utilization and Foreign Exchange	(9.0)
Ending accrued restructuring balance	3.1	7.9
Severance | 2023 Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.0
Pre-tax Restructuring Costs	0.9
Utilization and Foreign Exchange	0.0
Ending accrued restructuring balance	0.9	0.0
Severance | 2022 and Prior Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	7.5
Pre-tax Restructuring Costs	0.3
Utilization and Foreign Exchange	(4.8)
Ending accrued restructuring balance	3.0	7.5
Asset write-downs | 2023 Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.0
Pre-tax Restructuring Costs	0.0
Utilization and Foreign Exchange	0.0
Ending accrued restructuring balance	0.0	0.0
Asset write-downs | 2022 and Prior Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.0
Pre-tax Restructuring Costs	0.0
Utilization and Foreign Exchange	0.0
Ending accrued restructuring balance	0.0	0.0
Facility closure and other costs | 2023 Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.0
Pre-tax Restructuring Costs	0.3
Utilization and Foreign Exchange	(0.3)
Ending accrued restructuring balance	0.0	0.0
Facility closure and other costs | 2022 and Prior Restructuring Actions
Restructuring Reserve [Roll Forward]
Beginning accrued restructuring balance	0.4
Pre-tax Restructuring Costs	3.9
Utilization and Foreign Exchange	(4.2)
Ending accrued restructuring balance	$ 0.1	$ 0.4