Pension and Other Postretirement Benefit Plans - Reconciliation of Change in Benefit Obligation, Change in Plan Assets and Amounts Recognized in Consolidated Balance Sheet (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Pension | U.S.
Change in benefit obligation:
Benefit obligation at beginning of period	$ 564.4	$ 500.8
Service cost	0.0	0.1	$ 0.1
Interest cost	14.5	16.4	18.6
Amendment	0.0	0.0
Actuarial (gain) loss	(23.0)	66.4
Benefits paid	(19.4)	(19.3)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Benefit obligation at end of period	536.5	564.4	500.8
Change in plan assets:
Fair value of plan assets at beginning of period	418.2	376.6
Actual return on plan assets	43.0	41.7
Employer contributions	2.4	19.2
Benefits paid	(19.4)	(19.3)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	444.2	418.2	376.6
Funded status	(92.3)	(146.2)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(3.3)	(2.5)
Other long-term liabilities	(89.0)	(143.7)
Pension | Foreign
Change in benefit obligation:
Benefit obligation at beginning of period	529.2	504.3
Service cost	5.3	5.0	6.3
Interest cost	10.5	12.2	14.7
Amendment	0.0	0.0
Actuarial (gain) loss	(32.8)	39.9
Benefits paid	(24.3)	(20.0)
Benefits paid — settlements	0.0	(29.2)
Translation adjustment	(8.0)	17.0
Benefit obligation at end of period	479.9	529.2	504.3
Change in plan assets:
Fair value of plan assets at beginning of period	383.0	396.8
Actual return on plan assets	26.9	19.8
Employer contributions	5.6	7.7
Benefits paid	(24.3)	(20.0)
Benefits paid — settlements	0.0	(29.2)
Translation adjustment	1.3	7.9
Fair value of plan assets at end of period	392.5	383.0	396.8
Funded status	(87.4)	(146.2)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	41.7	9.1
Accrued liabilities	(3.8)	(3.2)
Other long-term liabilities	(125.3)	(152.1)
Other Postretirement | U.S.
Change in benefit obligation:
Benefit obligation at beginning of period	61.2	55.4
Service cost	0.0	0.0	0.0
Interest cost	1.4	1.7	2.1
Amendment	0.0	0.4
Actuarial (gain) loss	(3.5)	6.9
Benefits paid	(3.1)	(3.2)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Benefit obligation at end of period	56.0	61.2	55.4
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	3.1	3.2
Benefits paid	(3.1)	(3.2)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	0.0
Funded status	(56.0)	(61.2)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(4.0)	(4.0)
Other long-term liabilities	(52.0)	(57.2)
Other Postretirement | Foreign
Change in benefit obligation:
Benefit obligation at beginning of period	27.4	25.6
Service cost	0.0	0.0	0.3
Interest cost	0.7	0.7	1.3
Amendment	0.0	0.0
Actuarial (gain) loss	(2.4)	2.1
Benefits paid	(1.4)	(1.5)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.2	0.5
Benefit obligation at end of period	24.5	27.4	25.6
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	1.4	1.5
Benefits paid	(1.4)	(1.5)
Benefits paid — settlements	0.0	0.0
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	$ 0.0
Funded status	(24.5)	(27.4)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(1.5)	(1.5)
Other long-term liabilities	$ (23.0)	$ (25.9)