Leases - Operating Lease Costs (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net lease cost	$ 95.6	$ 97.9	$ 92.4
Research and development
Operating lease cost	2.0	3.4	5.2
Variable lease cost	0.4	0.8	1.1
Selling, general and administrative
Operating lease cost	95.9	95.9	93.1
Variable lease cost	25.4	25.7	21.1
Sublease income	(24.0)	(23.9)	(24.2)
Other (income) expense, net
Sublease income	$ (4.1)	$ (4.0)	$ (3.9)

Amount of lease cost recognized by lessee for lease contract.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918686-209980

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- Definition

Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 55
-Paragraph 53
-URI https://asc.fasb.org/extlink&oid=123414884&loc=SL77918982-209971

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- Definition

Amount of sublease income excluding finance and operating lease expense.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
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-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918686-209980

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-Section 55
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- Definition

Amount of variable lease cost, excluded from lease liability, recognized when obligation for payment is incurred for finance and operating leases.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
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