Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets (liabilities)
Employee benefits	$ 32.4	$ 35.3
U.S. federal tax attributes	20.9	34.5
Deferred revenue	29.5	27.2
Capitalized research and development costs	26.6	0.0
Lease liabilities	15.9	19.1
U.S. state tax attributes	13.4	17.6
Inventory reserves	7.2	6.9
Warranty reserves	5.3	4.9
Non-U.S. tax attributes	6.7	6.7
Allowance for credit losses	4.4	4.4
Other, net	12.2	9.9
Gross deferred assets	174.5	166.5
Valuation allowances	(33.1)	(29.7)
Deferred tax assets after valuation allowances	141.4	136.8
Intangibles	(432.5)	(458.1)
Property, plant and equipment	(61.1)	(60.7)
Right of use assets	(14.5)	(17.5)
Undistributed foreign earnings	(6.9)	(10.4)
Gross deferred liabilities	(515.0)	(546.7)
Net deferred tax liabilities	(373.6)	(409.9)
Foreign tax credit carryforwards	20.9
Deferred tax asset for state tax loss carry forwards	13.4
Valuation allowance on state tax losses	7.9
Non-U.S. tax attributes	6.7	$ 6.7
Valuation allowance on foreign tax losses	$ 4.3