Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Tax cuts and jobs act of 2017 change in net operating losses and valuation allowance	$ 22.9	$ 2.5	$ 0.0
Recognized tax benefit		1.6
Change in valuation allowance, deferred tax asset		(7.2)	(22.2)
Deferred tax assets, valuation allowance	174.1	170.5
Increase in deferred tax assets, valuation allowance		7.2	22.2
Tax cuts and jobs act, unremitted earnings of non-United States subsidiaries	242.1
Tax cuts and jobs act, additional unremitted earnings of non-United States subsidiaries	478.1	481.5
Federal income tax at statutory rate	(25.2)	3.6	(0.4)
Interest expense carryforwards	$ 26.8	9.0
Percentage of tax adjustable	30.00%
Change to gross unrecognized tax (expense) benefits including interest and penalties	$ (11.0)	(2.1)	5.5
Uncertain tax liabilities interest and penalties	(1.7)	(0.4)	(3.1)
Uncertain tax liabilities interest and penalties	9.1	18.4	20.1	$ 11.5
Uncertain tax liabilities interest and penalties accrued	1.2	2.9	3.3
Unrecognized Tax Benefits	9.1	18.4	20.1	$ 11.5
Unrecognized tax benefits due to the closing of statues of limitations	2.0	1.4	0.1
Unrecognized tax benefits that would impact effective tax rate	4.7	14.0	$ 15.4
Coronavirus aid relief and economic security act
Operating Loss Carryforwards [Line Items]
Uncertain tax liabilities interest and penalties	12.1
Interest on uncertain tax position	1.2
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	96.8	189.0
Federal income tax at statutory rate		1.9
Operating loss carryforwards with specific expiration period	13.5	24.4
Operating loss carryforwards without time restrictions for future use	$ 83.3	$ 164.6
Operating loss carryforwards expiration period	2036	2036
Maximum annual utilization percentage of indefinite lived loss carryforwards	80.00%
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 651.9	$ 772.0
Operating loss carryforwards expiration period	2042	2041
Non-U.S. Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 263.5	$ 281.2
Net operating loss carryforwards, valuation allowance	163.7	151.9
Germany
Operating Loss Carryforwards [Line Items]
Deferred tax assets, valuation allowance	20.0
India
Operating Loss Carryforwards [Line Items]
Deferred tax assets, valuation allowance	$ 1.2
China
Operating Loss Carryforwards [Line Items]
Deferred tax assets, valuation allowance		$ 2.7