Other Charges, Net - Restructuring Plans (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring charges
Restructuring expenses	$ 4.8	$ 8.2	$ 15.8
Cost of revenues
Restructuring charges
Restructuring expenses	0.9	3.4	3.8
Other charges, net
Restructuring charges
Restructuring expenses	$ 3.9	$ 4.8	$ 12.0