Accumulated Other Comprehensive Loss - Other Comprehensive Loss Reclassifications (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Net sales	$ 2,949.8	$ 2,886.9	$ 2,831.6
Cost of goods and services sold	(1,820.6)	(1,750.7)	(1,655.8)
Interest expense	(9.0)	(7.9)	(8.2)
Income before income taxes and equity in net income of affiliated companies	698.0	679.9	748.9
Income tax expense	(122.3)	(114.7)	(107.2)
Net income	593.4	585.9	661.8
Reclassification out of Accumulated Other Comprehensive Loss
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Net income	(5.1)	(32.6)	(3.4)
Reclassification out of Accumulated Other Comprehensive Loss | Gains (losses) on derivatives:
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Income before income taxes and equity in net income of affiliated companies	(9.1)	(0.6)	(2.7)
Income tax expense	2.5	(0.3)	0.6
Net income	(6.6)	(0.9)	(2.1)
Reclassification out of Accumulated Other Comprehensive Loss | Gains (losses) on derivatives: | Foreign currency contracts
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Net sales	(1.5)	1.4	(1.1)
Cost of goods and services sold	(3.1)	(4.1)	(2.4)
Other expense (income)	(4.2)	2.4	1.2
Reclassification out of Accumulated Other Comprehensive Loss | Gains (losses) on derivatives: | Forward treasury locks
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Interest expense	(0.3)	(0.3)	(0.4)
Reclassification out of Accumulated Other Comprehensive Loss | Amortization of defined benefit pension and other postretirement plans:
Reclassification out of Accumulated Other Comprehensive Loss [Line Items]
Prior service credit	0.0	0.0	0.3
Actuarial gains (losses)	1.7	0.6	(0.2)
Settlements	(0.1)	(52.2)	(1.8)
Other	0.4	(0.4)	0.0
Income before income taxes and equity in net income of affiliated companies	2.0	(52.0)	(1.7)
Income tax expense	(0.5)	20.3	0.4
Net income	$ 1.5	$ (31.7)	$ (1.3)