Restructuring Activities - Components of Restructuring Accrual, Spending and Other Activity and Accrual Balance Remaining (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Reserve [Roll Forward]
Restructuring accrual, beginning of period	$ 14.3	$ 31.5	$ 37.5
Accrual and accrual adjustments	14.5	11.0	41.9
Cash payments	(16.9)	(28.0)	(47.6)
Effect of changes in foreign currency exchange rates	(0.6)	(0.2)	(0.3)
Restructuring accrual, end of period	$ 11.3	$ 14.3	$ 31.5