Benefit Plans and Other Postretirement Benefits, Net pension expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
United States
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	2.40%	2.60%	3.00%
Foreign Plans
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	1.75%	1.78%	1.77%
Pension Benefits
Components of net pension expense:
Service cost	$ 7.5	$ 7.5	$ 8.0
Interest cost	11.3	16.7	21.5
Expected return on plan assets	(31.2)	(37.2)	(36.9)
Amortization of prior service cost	2.1	2.1	1.8
Amortization of net actuarial losses	24.8	25.2	18.5
Net pension expense	14.5	14.3	12.9
Pension Benefits | United States
Components of net pension expense:
Service cost	4.2	4.5	5.4
Interest cost	8.6	13.2	16.8
Expected return on plan assets	(28.1)	(33.8)	(33.2)
Amortization of prior service cost	1.9	2.1	1.7
Amortization of net actuarial losses	17.8	19.8	14.4
Net pension expense	$ 4.4	$ 5.8	$ 5.1
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	2.30%	3.11%	4.14%
Expected long-term return on assets (as a percent)	6.00%	7.50%	7.50%
Pension Benefits | Foreign Plans
Components of net pension expense:
Service cost	$ 3.3	$ 3.0	$ 2.6
Interest cost	2.7	3.5	4.7
Expected return on plan assets	(3.1)	(3.4)	(3.7)
Amortization of prior service cost	0.2	0.0	0.1
Amortization of net actuarial losses	7.0	5.4	4.1
Net pension expense	$ 10.1	$ 8.5	$ 7.8
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	1.12%	1.59%	2.28%
Expected long-term return on assets (as a percent)	2.71%	3.25%	3.75%