Restructuring Activities - Schedule of Board Approved Restructuring (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Total Restructuring Program
Total expense	$ 21.4	$ 31.0	$ 30.6
Capital expenditures	9.7	$ 8.2	$ 0.4
Program
Total Restructuring Program
Costs of reduction in headcount as a result of reorganization	85.0
Other expenses associated with the Program	115.0
Total expense	200.0
Capital expenditures	20.0
Total estimated cash cost	220.0
Total Program Spend
Costs of reduction in headcount as a result of reorganization	87.0
Other expenses associated with the Program	112.0
Total expense	199.0
Cumulative capital expenditures	20.0
Total estimated cash cost	$ 219.0