Revenue - Total Reserves for Discounts and Allowances (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]
Revenue-related reserves for discounts and allowances	$ 1,062.0	$ 1,035.0	$ 935.3	$ 1,276.0
Reduction of accounts receivable
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]
Revenue-related reserves for discounts and allowances	135.5	143.4
Component of accrued expense and other
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]
Revenue-related reserves for discounts and allowances	$ 926.5	$ 891.6