Retirement and Deferred Compensation Plans - Additional Information (Details) $ in Millions	1 Months Ended		12 Months Ended
	Feb. 29, 2020 USD ($)	Jan. 31, 2020 USD ($)	Dec. 31, 2022 USD ($) Insurance_contract	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Settlement of lump sum payments	$ 3.2
Pension liability			$ 6.6
Remaining plan assets in excess of pension liability			16.6
Pension liability			2.7	$ 1.0	$ 9.3
Deferred compensation plans, asset and liability			114.4	136.9
Company Sponsored Plans [Member]
Defined Benefit Plan Disclosure [Line Items]
Total expense			18.4	17.3	16.6
Statutory Plans Member [Member]
Defined Benefit Plan Disclosure [Line Items]
Total expense			31.4	32.2	$ 7.5
Retiree Health Care Plan
Defined Benefit Plan Disclosure [Line Items]
Prior service cost (credit) recognized in accumulated other comprehensive loss			0.8
Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Remaining plan assets in excess of pension liability			76.8	99.4
Accumulated benefit obligation for plan			554.1	787.5
Accumulated benefit obligation for plans that do not have plan assets			74.9	104.2
Prior service cost (credit) recognized in accumulated other comprehensive loss			0.7
Estimated Net Gain			(3.3)
Estimated employer contribution to pension plans during next fiscal year			16.0
Pension Plan [Member] | Qualified Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation for plan			629.0	891.7
Projected benefit obligation for plans			652.8	923.9
Postretirement Health Coverage [Member]
Defined Benefit Plan Disclosure [Line Items]
Net loss recognized in accumulated other comprehensive loss			0.5	2.2
Prior service cost (credit) recognized in accumulated other comprehensive loss			$ 1.7	$ 2.3
Discount rate used in measurement of benefit obligation (as a percent)			5.10%	2.60%
Discount rate used in measurement of net periodic benefit cost (as a percent)			2.60%	2.20%	3.00%
Health care cost trend rate assumed for next fiscal year (as a percent)			6.70%
Ultimate health care cost trend rate (as a percent)			4.50%
Foreign Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Pension liability			$ 2.7	$ 1.0
Foreign Plan [Member] | Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Settlement of lump sum payments			$ 57.4	$ 61.7
Expected long-term return on plan assets			2.20%	1.80%	2.20%
Number of foreign plans using guaranteed insurance contracts | Insurance_contract			4
Net loss recognized in accumulated other comprehensive loss			$ 4.6	$ 41.8
Prior service cost (credit) recognized in accumulated other comprehensive loss			$ 3.1	$ 7.1
Discount rate used in measurement of benefit obligation (as a percent)			3.20%	1.00%
Foreign Plan [Member] | Pension Plan [Member] | Minimum [Member]
Defined Benefit Plan Disclosure [Line Items]
Expected long-term return on plan assets			0.50%
Foreign Plan [Member] | Pension Plan [Member] | Maximum [Member]
Defined Benefit Plan Disclosure [Line Items]
Expected long-term return on plan assets				3.00%
UNITED STATES
Defined Benefit Plan Disclosure [Line Items]
Contributions to pension plans		$ 19.2
UNITED STATES | Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Settlement of lump sum payments			$ 0.0	$ 0.0
Net loss recognized in accumulated other comprehensive loss			4.5	7.8
Prior service cost (credit) recognized in accumulated other comprehensive loss			$ 0.0	$ 0.0
Discount rate used in measurement of benefit obligation (as a percent)			5.40%	2.60%