Benefit Plans and Other Postretirement Benefits, Benefit obligation and plan assets (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Amounts recognized in the balance sheet as of December 31:
Accrued pension and postretirement benefit obligations	$ 193.4	$ 228.6
Accumulated other comprehensive loss, net	$ (286.5)	$ (278.1)
United States
Weighted average assumptions used to determine projected benefit obligations:
Rate of compensation increase (as a percent)	2.40%	2.40%
Foreign Plans
Weighted average assumptions used to determine projected benefit obligations:
Rate of compensation increase (as a percent)	1.75%	1.75%
Pension Benefits
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	$ 828.4	$ 757.9
Service cost	7.5	7.5	$ 8.0
Interest cost	11.3	16.7	21.5
Plan amendments	0.4	0.1
Actuarial (gain) loss	(37.3)	62.6
Foreign exchange translation	(12.3)	17.9
Benefits paid	(36.8)	(34.3)
Projected benefit obligation at end of year	761.2	828.4	757.9
Change in plan assets:
Fair value of plan assets at the beginning of the year	632.3	581.0
Actual return on plan assets	44.5	74.1
Employer contributions	6.8	6.5	6.6
Foreign exchange translation	(2.8)	5.0
Benefits paid	(36.8)	(34.3)
Fair value of plan assets at end of year	644.0	632.3	581.0
Over (under) funded status at end of year	(117.2)	(196.1)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	50.7	8.1
Other accrued expenses	4.2	4.3
Accrued pension and postretirement benefit obligations	163.7	199.9
Accumulated other comprehensive loss, net	(134.8)	(192.5)
Accumulated benefit obligation
Accumulated benefit obligation	753.7	818.4
Pension Benefits | United States
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	526.4	496.5
Service cost	4.2	4.5	5.4
Interest cost	8.6	13.2	16.8
Plan amendments	0.4	0.0
Actuarial (gain) loss	(16.9)	38.5
Foreign exchange translation	0.0	0.0
Benefits paid	(27.4)	(26.3)
Projected benefit obligation at end of year	495.3	526.4	496.5
Change in plan assets:
Fair value of plan assets at the beginning of the year	515.7	473.2
Actual return on plan assets	38.2	67.8
Employer contributions	1.0	1.0
Foreign exchange translation	0.0	0.0
Benefits paid	(27.4)	(26.3)
Fair value of plan assets at end of year	527.5	515.7	473.2
Over (under) funded status at end of year	32.2	(10.7)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	50.0	7.8
Other accrued expenses	1.1	1.0
Accrued pension and postretirement benefit obligations	16.7	17.5
Accumulated other comprehensive loss, net	$ (83.0)	$ (118.2)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	2.69%	2.30%
Increase (decrease) in benefit obligation due to change in discount rate	$ (23.0)
Accumulated benefit obligation
Accumulated benefit obligation	494.2	$ 525.1
Pension Benefits | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	302.0	261.4
Service cost	3.3	3.0	2.6
Interest cost	2.7	3.5	4.7
Plan amendments	0.0	0.1
Actuarial (gain) loss	(20.4)	24.1
Foreign exchange translation	(12.3)	17.9
Benefits paid	(9.4)	(8.0)
Projected benefit obligation at end of year	265.9	302.0	261.4
Change in plan assets:
Fair value of plan assets at the beginning of the year	116.6	107.8
Actual return on plan assets	6.3	6.3
Employer contributions	5.8	5.5
Foreign exchange translation	(2.8)	5.0
Benefits paid	(9.4)	(8.0)
Fair value of plan assets at end of year	116.5	116.6	$ 107.8
Over (under) funded status at end of year	(149.4)	(185.4)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	0.7	0.3
Other accrued expenses	3.1	3.3
Accrued pension and postretirement benefit obligations	147.0	182.4
Accumulated other comprehensive loss, net	$ (51.8)	$ (74.3)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	1.58%	1.12%
Accumulated benefit obligation
Accumulated benefit obligation	$ 259.5	$ 293.3
Largest foreign pension plan | Pension Benefits | Unfunded Plan | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	120.8
Projected benefit obligation at end of year	$ 104.1	$ 120.8