Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Sales Incentives, Current [Roll Forward]
Beginning Balance	$ 24.8	$ 35.2	$ 20.8	$ 23.3
Additions	4.8	6.1	26.9	33.6
Credits issued	(11.7)	(6.6)	(28.3)	(19.8)
Foreign currency translation and other	(0.4)	(1.3)	(1.9)	(3.7)
Ending Balance	$ 17.5	$ 33.4	$ 17.5	$ 33.4