Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Sales Incentives, Current [Roll Forward]
Beginning Balance	$ 20.8	$ 23.3
Additions	15.5	15.9
Credits issued	(10.7)	(6.2)
Foreign currency translation and other	(0.1)	(0.7)
Ending Balance	$ 25.5	$ 32.3