Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Sales Incentives, Current [Roll Forward]
Beginning Balance	$ 25.5	$ 32.3	$ 20.8	$ 23.3
Additions	6.6	11.7	22.1	27.6
Credits issued	(5.9)	(7.1)	(16.6)	(13.3)
Foreign currency translation and other	(1.4)	(1.7)	(1.5)	(2.4)
Ending Balance	$ 24.8	$ 35.2	$ 24.8	$ 35.2