Restructuring Activities - Components of Restructuring Accrual, Spending and Other Activity and Accrual Balance Remaining (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Reserve [Roll Forward]
Restructuring accrual, beginning of period	$ 11.3	$ 14.3	$ 31.5
Accrual and accrual adjustments	12.1	14.5	11.0
Cash payments	(8.6)	(16.9)	(28.0)
Effect of changes in foreign currency exchange rates	(0.1)	(0.6)	(0.2)
Restructuring accrual, end of period	$ 14.7	$ 11.3	$ 14.3