Derivative Instruments and Hedging Activities - Balance Sheet (Details) - USD ($) $ in Millions	Jun. 30, 2022	Dec. 31, 2021
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	$ 31.8	$ (51.6)
Notional Amount	1,331.3	1,524.8
Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	25.3	(17.5)
Derivative Asset, Notional Amount	397.8	504.3
Designated as hedging instrument
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	32.7	(52.6)
Derivative Asset, Notional Amount	1,181.0	1,330.1
Designated as hedging instrument | Other current assets
Derivative instruments and hedging activities
Derivative Asset	10.6	6.4
Designated as hedging instrument | Other assets
Derivative instruments and hedging activities
Derivative Asset	22.0	0.0
Designated as hedging instrument | Other current liabilities
Derivative instruments and hedging activities
Derivative Liability	0.0	(5.8)
Designated as hedging instrument | Other long-term liabilities
Derivative instruments and hedging activities
Derivative Liability	(7.3)	(18.1)
Designated as hedging instrument | Long-term debt
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	7.4	(35.1)
Derivative Asset, Notional Amount	783.2	825.8
Not designated as hedging instruments
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	(0.9)	1.0
Notional Amount	150.3	194.7
Not designated as hedging instruments | Forward currency contract | Other current assets
Derivative instruments and hedging activities
Derivative Asset	0.3	0.7
Derivative Asset, Notional Amount	26.7	157.7
Not designated as hedging instruments | Forward currency contract | Other current liabilities
Derivative instruments and hedging activities
Derivative Liability	(0.4)	(0.3)
Derivative Liability, Notional Amount	103.6	23.0
Not designated as hedging instruments | Embedded derivatives in purchase and delivery contracts | Other current assets
Derivative instruments and hedging activities
Derivative Asset	0.2	0.2
Derivative Asset, Notional Amount	11.0	8.5
Not designated as hedging instruments | Fixed price commodity contracts | Other current assets
Derivative instruments and hedging activities
Derivative Asset	0.0	0.4
Derivative Asset, Notional Amount	0.0	5.5
Not designated as hedging instruments | Fixed price commodity contracts | Other current liabilities
Derivative instruments and hedging activities
Derivative Liability	(1.0)	0.0
Derivative Liability, Notional Amount	$ 9.0	$ 0.0