Derivative Financial Instruments - Fair Value of Derivative and Non-Derivative Assets and Liabilities on the Consolidated Balance Sheets (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Derivatives, Fair Value [Line Items]
Assets	$ 14.0	$ 24.7
Liabilities	982.4	1,049.3
Not designated as hedging instrument | Foreign currency forward contracts | Prepaid expenses and other assets
Derivatives, Fair Value [Line Items]
Assets	0.2	0.0
Not designated as hedging instrument | Foreign currency forward contracts | Accrued liabilities
Derivatives, Fair Value [Line Items]
Liabilities	0.0	5.5
Cash flow hedge | Designated as hedging instrument | Cross-currency swap | Prepaid expenses and other assets
Derivatives, Fair Value [Line Items]
Assets	0.0	24.7
Net Investment Hedging | Designated as hedging instrument | Cross-currency swap | Accrued liabilities
Derivatives, Fair Value [Line Items]
Liabilities	25.8	24.2
Net Investment Hedging | Designated as hedging instrument | Euro Notes due in 2027 | Long-term debt
Derivatives, Fair Value [Line Items]
Liabilities	423.9	0.0
Net Investment Hedging | Designated as hedging instrument | Euro Notes due in 2022 | Short-term borrowings and current maturities of long-term debt
Derivatives, Fair Value [Line Items]
Liabilities	0.0	454.4
Net Investment Hedging | Designated as hedging instrument | Euro Notes due in 2026 | Long-term debt
Derivatives, Fair Value [Line Items]
Liabilities	532.7	565.2
Fair value hedge | Designated as hedging instrument | Cross-currency swap | Prepaid expenses and other assets
Derivatives, Fair Value [Line Items]
Assets	$ 13.8	$ 0.0