Benefit Plans and Other Postretirement Benefits, Net pension expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
United States
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	2.40%	2.40%	2.60%
Foreign Plans
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	1.75%	1.75%	1.78%
Pension Benefits
Components of net pension expense:
Service cost	$ 6.0	$ 7.5	$ 7.5
Interest cost	$ 14.0	$ 11.3	$ 16.7
Interest cost, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Expected return on plan assets	$ (29.9)	$ (31.2)	$ (37.2)
Expected return on plan assets, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Amortization of prior service cost	$ 1.4	$ 2.1	$ 2.1
Amortization of prior service cost, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Amortization of net actuarial losses	$ 16.1	$ 24.8	$ 25.2
Amortization of actuarial losses, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Net pension expense	$ 7.6	$ 14.5	$ 14.3
Pension Benefits | United States
Components of net pension expense:
Service cost	3.5	4.2	4.5
Interest cost	10.6	8.6	13.2
Expected return on plan assets	(26.5)	(28.1)	(33.8)
Amortization of prior service cost	1.4	1.9	2.1
Amortization of net actuarial losses	11.9	17.8	19.8
Net pension expense	$ 0.9	$ 4.4	$ 5.8
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	2.69%	2.30%	3.11%
Expected long-term return on assets (as a percent)	5.50%	6.00%	7.50%
Pension Benefits | Foreign Plans
Components of net pension expense:
Service cost	$ 2.5	$ 3.3	$ 3.0
Interest cost	3.4	2.7	3.5
Expected return on plan assets	(3.4)	(3.1)	(3.4)
Amortization of prior service cost	0.0	0.2	0.0
Amortization of net actuarial losses	4.2	7.0	5.4
Net pension expense	$ 6.7	$ 10.1	$ 8.5
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	1.58%	1.12%	1.59%
Expected long-term return on assets (as a percent)	3.35%	2.71%	3.25%