Benefit Plans and Other Postretirement Benefits, Benefit obligation and plan assets (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Amounts recognized in the balance sheet as of December 31:
Accrued pension and postretirement benefit obligations	$ 143.0	$ 127.9
Accumulated other comprehensive loss, net	$ (533.6)	$ (535.0)
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)	1.89%	1.83%
Pension Benefits
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	$ 563.8	$ 761.2
Service cost	3.8	6.0	$ 7.5
Interest cost	25.4	14.0	11.3
Plan amendments	0.0	2.8
Actuarial (gain) loss	14.5	(165.4)
Foreign exchange translation and other	(9.5)	(19.2)
Benefits paid	(36.2)	(35.6)
Projected benefit obligation at end of year	561.8	563.8	761.2
Change in plan assets:
Fair value of plan assets at the beginning of the year	470.6	644.0
Actual return on plan assets	44.8	(134.9)
Employer contributions	5.4	6.3	6.8
Foreign exchange translation and other	(3.0)	(9.2)
Benefits paid	(36.2)	(35.6)
Fair value of plan assets at end of year	481.6	470.6	644.0
Over (under) funded status at end of year	(80.2)	(93.2)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	21.9	13.6
Other accrued expenses	4.1	4.4
Accrued pension and postretirement benefit obligations	98.0	102.4
Accumulated other comprehensive loss, net	(122.9)	(124.1)
Accumulated benefit obligation
Accumulated benefit obligation	557.0	560.1
Pension Benefits | United States
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	388.2	495.3
Service cost	2.5	3.5	4.2
Interest cost	18.6	10.6	8.6
Plan amendments	0.0	2.8
Actuarial (gain) loss	8.8	(95.8)
Foreign exchange translation and other	0.0	0.0
Benefits paid	(29.6)	(28.2)
Projected benefit obligation at end of year	388.5	388.2	495.3
Change in plan assets:
Fair value of plan assets at the beginning of the year	387.0	527.5
Actual return on plan assets	37.1	(113.4)
Employer contributions	1.1	1.1
Foreign exchange translation and other	0.0	0.0
Benefits paid	(29.6)	(28.2)
Fair value of plan assets at end of year	395.6	387.0	527.5
Over (under) funded status at end of year	7.1	(1.2)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	21.2	12.9
Other accrued expenses	1.2	1.2
Accrued pension and postretirement benefit obligations	12.9	12.9
Accumulated other comprehensive loss, net	$ (104.0)	$ (108.5)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	4.97%	5.18%
Increase (decrease) in benefit obligation due to change in discount rate	$ 7.0
Accumulated benefit obligation
Accumulated benefit obligation	388.2	$ 387.8
Pension Benefits | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	175.6	265.9
Service cost	1.3	2.5	3.3
Interest cost	6.8	3.4	2.7
Plan amendments	0.0	0.0
Actuarial (gain) loss	5.7	(69.6)
Foreign exchange translation and other	(9.5)	(19.2)
Benefits paid	(6.6)	(7.4)
Projected benefit obligation at end of year	173.3	175.6	265.9
Change in plan assets:
Fair value of plan assets at the beginning of the year	83.6	116.5
Actual return on plan assets	7.7	(21.5)
Employer contributions	4.3	5.2
Foreign exchange translation and other	(3.0)	(9.2)
Benefits paid	(6.6)	(7.4)
Fair value of plan assets at end of year	86.0	83.6	$ 116.5
Over (under) funded status at end of year	(87.3)	(92.0)
Amounts recognized in the balance sheet as of December 31:
Other long-term assets	0.7	0.7
Other accrued expenses	2.9	3.2
Accrued pension and postretirement benefit obligations	85.1	89.5
Accumulated other comprehensive loss, net	$ (18.9)	$ (15.6)
Weighted average assumptions used to determine projected benefit obligations:
Benefit obligation discount rate (as a percent)	3.72%	4.20%
Accumulated benefit obligation
Accumulated benefit obligation	$ 168.8	$ 172.3
Largest foreign pension plan | Pension Benefits | Foreign Plans
Change in projected benefit obligation:
Projected benefit obligation at beginning of year	71.5
Projected benefit obligation at end of year	$ 81.7	$ 71.5