Leases, Operating lease maturity table and account balances (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Leases
2022	$ 75.0
2023	57.3
2024	42.0
2025	28.8
2026	19.8
Thereafter	44.4
Total future minimum lease payments	267.3
Less imputed interest	(16.3)
Total operating lease liabilities	251.0	$ 229.1
Operating lease right-of-use assets (included in other long-term assets)	$ 244.9	$ 224.4
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Other Assets, Noncurrent	Other Assets, Noncurrent
Other accrued expenses	$ 70.6	$ 68.0
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Other Liabilities, Current	Other Liabilities, Current
Other long-term liabilities	$ 180.4	$ 161.1
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent