Benefit Plans and Other Postretirement Benefits, Net pension expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
United States
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	2.40%	2.40%	2.40%
Foreign Plans
Weighted average assumptions used to determine net periodic benefit cost/expense:
Rate of compensation increase (as a percent)	1.93%	1.75%	1.75%
Pension Benefits
Components of net pension expense:
Service cost	$ 3.8	$ 6.0	$ 7.5
Interest cost	$ 25.4	$ 14.0	$ 11.3
Interest cost, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Expected return on plan assets	$ (29.1)	$ (29.9)	$ (31.2)
Expected return on plan assets, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Amortization of prior service cost	$ 1.8	$ 1.4	$ 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	$ 2.3	$ 16.1	$ 24.8
Amortization of actuarial losses, extensible enumeration	Other income (expense), net	Other income (expense), net	Other income (expense), net
Net pension (income) expense	$ 4.2	$ 7.6	$ 14.5
Pension Benefits | United States
Components of net pension expense:
Service cost	2.5	3.5	4.2
Interest cost	18.6	10.6	8.6
Expected return on plan assets	(24.6)	(26.5)	(28.1)
Amortization of prior service cost	1.7	1.4	1.9
Amortization of net actuarial losses	1.6	11.9	17.8
Net pension (income) expense	$ (0.2)	$ 0.9	$ 4.4
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	5.18%	2.69%	2.30%
Expected long-term return on assets (as a percent)	5.50%	5.50%	6.00%
Pension Benefits | Foreign Plans
Components of net pension expense:
Service cost	$ 1.3	$ 2.5	$ 3.3
Interest cost	6.8	3.4	2.7
Expected return on plan assets	(4.5)	(3.4)	(3.1)
Amortization of prior service cost	0.1	0.0	0.2
Amortization of net actuarial losses	0.7	4.2	7.0
Net pension (income) expense	$ 4.4	$ 6.7	$ 10.1
Weighted average assumptions used to determine net periodic benefit cost/expense:
Discount rate (as a percent)	4.20%	1.58%	1.12%
Expected long-term return on assets (as a percent)	5.45%	3.35%	2.71%