Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets
Net operating loss carryforwards	$ 10.3	$ 14.0
Tax credit carryforwards	1.9	1.5
Pension and deferred compensation	31.4	31.6
Royalty acceleration	46.2	45.1
Other	25.5	12.2
Capitalized R&D expenses	8.1	0.0
Leases	20.6	0.0
Valuation allowance	(13.3)	(12.2)
Total deferred tax assets	130.7	92.2
Deferred tax liabilities:
Property, plant, and equipment	53.7	47.2
Tax on undistributed earnings of subsidiaries	1.5	1.8
Leases	19.7	0.0
Other	4.5	(0.4)
Total deferred tax liabilities	79.4	48.6
Net deferred tax asset (liability)	$ 51.3	$ 43.6