Restructuring Activities - Summary of Statement of Operations Effects (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost And Reserve [Line Items]
Restructuring charges (Note 12)	$ 12.1	$ 14.5	$ 11.0
Total expense	21.4	31.0	30.6
Capital expenditures	9.7	8.2	0.4
Continuing Operations
Restructuring Cost And Reserve [Line Items]
Other associated costs	9.3	16.5	19.6
Restructuring charges (Note 12)	$ 12.1	$ 14.5	$ 11.0