Restructuring, Business Transformation and Other Cost Saving Initiatives - FIt for Growth Initiative (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 76.0	$ 15.4	$ 120.0	$ 124.1
2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	37.7		62.6
Accelerated Depreciation and Other Costs	23.4		51.9
Restructuring charges	61.1		114.5
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	5.9		17.4
Restructuring charges	5.9		17.4
Research and development | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	0.0		0.0
Accelerated Depreciation and Other Costs	0.2		0.7
Restructuring charges	0.2		0.7
Restructuring charges | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	37.7		62.6
Accelerated Depreciation and Other Costs	17.3		33.8
Restructuring charges	$ 55.0		$ 96.4