Benefit Plans and Other Postretirement Benefits, Benefit obligation and plan assets (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Amounts recognized in the balance sheet as of December 31:
Accrued pension and postretirement benefit obligations	$ 127.9	$ 193.4
Accumulated other comprehensive loss, net	$ (535.0)	$ (286.5)
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)	1.83%	1.75%
Pension Benefits
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	$ 761.2	$ 828.4
Service cost	6.0	7.5	$ 7.5
Interest cost	14.0	11.3	16.7
Plan amendments	2.8	0.4
Actuarial (gain) loss	(165.4)	(37.3)
Foreign exchange translation	(19.2)	(12.3)
Benefits paid	(35.6)	(36.8)
Projected benefit obligation at end of year	563.8	761.2	828.4
Change in plan assets:
Fair value of plan assets at the beginning of the year	644.0	632.3
Actual return on plan assets	(134.9)	44.5
Employer contributions	6.3	6.8	6.5
Foreign exchange translation	(9.2)	(2.8)
Benefits paid	(35.6)	(36.8)
Fair value of plan assets at end of year	470.6	644.0	632.3
Over (under) funded status at end of year	(93.2)	(117.2)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	13.6	50.7
Other accrued expenses	4.4	4.2
Accrued pension and postretirement benefit obligations	102.4	163.7
Accumulated other comprehensive loss, net	(124.1)	(134.8)
Accumulated benefit obligation
Accumulated benefit obligation	560.1	753.7
Pension Benefits | United States
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	495.3	526.4
Service cost	3.5	4.2	4.5
Interest cost	10.6	8.6	13.2
Plan amendments	2.8	0.4
Actuarial (gain) loss	(95.8)	(16.9)
Foreign exchange translation	0.0	0.0
Benefits paid	(28.2)	(27.4)
Projected benefit obligation at end of year	388.2	495.3	526.4
Change in plan assets:
Fair value of plan assets at the beginning of the year	527.5	515.7
Actual return on plan assets	(113.4)	38.2
Employer contributions	1.1	1.0
Foreign exchange translation	0.0	0.0
Benefits paid	(28.2)	(27.4)
Fair value of plan assets at end of year	387.0	527.5	515.7
Over (under) funded status at end of year	(1.2)	32.2
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	12.9	50.0
Other accrued expenses	1.2	1.1
Accrued pension and postretirement benefit obligations	12.9	16.7
Accumulated other comprehensive loss, net	$ (108.5)	$ (83.0)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	5.18%	2.69%
Increase (decrease) in benefit obligation due to change in discount rate	$ (107.0)
Accumulated benefit obligation
Accumulated benefit obligation	387.8	$ 494.2
Pension Benefits | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	265.9	302.0
Service cost	2.5	3.3	3.0
Interest cost	3.4	2.7	3.5
Plan amendments	0.0	0.0
Actuarial (gain) loss	(69.6)	(20.4)
Foreign exchange translation	(19.2)	(12.3)
Benefits paid	(7.4)	(9.4)
Projected benefit obligation at end of year	175.6	265.9	302.0
Change in plan assets:
Fair value of plan assets at the beginning of the year	116.5	116.6
Actual return on plan assets	(21.5)	6.3
Employer contributions	5.2	5.8
Foreign exchange translation	(9.2)	(2.8)
Benefits paid	(7.4)	(9.4)
Fair value of plan assets at end of year	83.6	116.5	$ 116.6
Over (under) funded status at end of year	(92.0)	(149.4)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	0.7	0.7
Other accrued expenses	3.2	3.1
Accrued pension and postretirement benefit obligations	89.5	147.0
Accumulated other comprehensive loss, net	$ (15.6)	$ (51.8)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	4.20%	1.58%
Accumulated benefit obligation
Accumulated benefit obligation	$ 172.3	$ 259.5
Largest foreign pension plan | Pension Benefits | Unfunded Plan | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	104.1
Projected benefit obligation at end of year	$ 71.5	$ 104.1