Retirement Benefit Plans - Accumulated Other Comprehensive Loss (Details) - Pension Plan - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
U.S. Plans
Defined Benefit Plan Disclosure [Line Items]
Net prior service credit	$ 0.3	$ 1.5
Accumulated other comprehensive loss (income)	0.3	1.5	$ 2.7
International Plans
Defined Benefit Plan Disclosure [Line Items]
Net prior service credit	3.6	4.2
Accumulated other comprehensive loss (income)	$ 3.6	$ 4.2	$ 3.9