Benefit Plans and Other Postretirement Benefits, Pension plans with a projected benefit obligation in excess of plan assets (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
United States
Pension Plan with Project Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligation	$ 29.6	$ 30.1
Fair value of plan assets	12.0	11.7
Foreign Plans
Pension Plan with Project Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligation	260.6	296.4
Fair value of plan assets	$ 110.3	$ 110.7