Pension, Health Care and Other Postretirement Benefits - Summary of the Components of the Net Pension Costs and Cumulative Other Comprehensive Loss Related to the Defined Benefit Pension Plans (Details) - Defined Benefit Pension - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Domestic Defined Benefit Pension Plan
Net pension cost:
Service cost	$ 4.6	$ 4.9	$ 4.4
Interest cost	3.2	2.7	3.2
Expected return on plan assets	(7.6)	(7.1)	(6.3)
Amortization of prior service cost (credit)	1.0	1.1	1.4
Ongoing pension cost	1.2	1.6	2.7
Net pension cost	1.2	1.6	2.7
Other changes in plan assets and projected benefit obligation recognized in AOCI (before taxes):
Net actuarial losses (gains) arising during the year	5.0	(10.5)	(4.5)
Prior service cost (credit) arising during the year	1.6	1.4	0.2
Amortization of prior service (cost) credit	(1.0)	(1.1)	(1.4)
Total recognized in AOCI	5.6	(10.2)	(5.7)
Total recognized in net pension cost and AOCI	6.8	(8.6)	(3.0)
Foreign Defined Benefit Pension Plans
Net pension cost:
Service cost	6.3	7.4	6.8
Interest cost	7.3	5.7	6.9
Expected return on plan assets	(9.4)	(9.6)	(10.0)
Amortization of prior service cost (credit)	(0.2)	(0.1)
Amortization of actuarial losses	0.2	1.5	1.0
Ongoing pension cost	4.2	4.9	4.7
Settlement costs	(0.3)	0.3	0.2
Net pension cost	3.9	5.2	4.9
Other changes in plan assets and projected benefit obligation recognized in AOCI (before taxes):
Net actuarial losses (gains) arising during the year	(29.6)	(44.9)	7.0
Prior service cost (credit) arising during the year	(0.3)	(1.0)	(0.5)
Amortization of actuarial losses	(0.2)	(1.5)	(1.0)
Amortization of prior service (cost) credit	0.2	0.1
Gain (loss) recognized for settlement	0.3	(0.3)	(0.2)
Exchange rate (loss) gain recognized during the year	(0.4)	(0.6)	1.7
Total recognized in AOCI	(30.0)	(48.2)	7.0
Total recognized in net pension cost and AOCI	$ (26.1)	$ (43.0)	$ 11.9