Restructuring, Business Transformation and Other Cost Saving Initiatives - Fit for Growth Initiative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 218.8	$ 131.1	$ 0.0
2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	153.4
Accelerated Depreciation and Other Costs	59.1
Restructuring charges	212.5
Selling, general and administrative | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	0.0
Accelerated Depreciation and Other Costs	23.3
Restructuring charges	23.3
Research and development | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	0.0
Accelerated Depreciation and Other Costs	1.2
Restructuring charges	1.2
Restructuring charges | 2023 Cost Saving Initiatives
Restructuring Cost and Reserve [Line Items]
Severance Costs	153.4
Accelerated Depreciation and Other Costs	34.6
Restructuring charges	$ 188.0