Restructuring, Business Transformation and Other Cost Saving Initiatives - FIt for Growth Initiative (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 34.4	$ 70.6	$ 44.0	$ 108.7
2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	17.8		24.9
Accelerated Depreciation and Other Costs	28.5		28.5
Restructuring charges	46.3		53.4
Selling, general and administrative | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	0.0		0.0
Accelerated Depreciation and Other Costs	11.5		11.5
Restructuring charges	11.5		11.5
Research and development | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	0.0		0.0
Accelerated Depreciation and Other Costs	0.5		0.5
Restructuring charges	0.5		0.5
Restructuring charges | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	17.8		24.9
Accelerated Depreciation and Other Costs	16.5		16.5
Restructuring charges	$ 34.3		$ 41.4