Income Taxes - Reconciliation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of variation of effective income tax rate from continuing operations from the statutory federal income tax rate
Income tax at the U.S. federal statutory rate	$ 115.7	$ 100.1	$ 83.2
Adjustments:
State and local income taxes, net of federal tax benefit	5.3	4.0	4.8
Tax on foreign remittances and U.S. tax on foreign income	19.0	15.4	22.5
Tax expense related to undistributed earnings of foreign subsidiaries	1.0	0.1	0.1
Foreign losses without current tax benefits	3.1	2.6	2.5
Foreign earnings taxed at different rates including tax holidays	19.4	15.4	11.1
U.S. foreign tax credit	(15.2)	(11.5)	(13.8)
Accruals and settlements related to tax audits	(9.5)	(7.7)	3.4
Valuation allowance changes	(0.9)	(7.8)	(0.7)
Stock based compensation	(1.2)	(8.1)	(3.1)
Other items, net	(2.8)	(7.4)	(6.1)
United States and foreign tax provision on income	$ 133.9	$ 95.1	$ 103.9
Effective income tax rate (as a percent)	24.30%	20.00%	26.20%