Benefit Plans and Other Postretirement Benefits, Pension plans with an accumulated benefit obligation in excess of plan assets (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
United States
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract]
Accumulated benefit obligation	$ 22.8	$ 29.2
Fair value of plan assets	8.9	12.0
Foreign Plans
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract]
Accumulated benefit obligation	147.2	254.1
Fair value of plan assets	$ 57.7	$ 110.3