Fair Value of Financial Instruments - Hierarchy (Details) - USD ($) $ in Millions	Sep. 30, 2023	Dec. 31, 2022
Liabilities:
Long-term fixed interest rate debt	$ 776.0	$ 767.8
Recurring basis
Assets:
Time deposits and money market funds	78.8	198.7
Interest rate and cross currency swap agreements	38.2	37.8
Forward currency contracts	0.1	0.6
Embedded derivatives in purchase and delivery contracts	0.3	0.1
Fixed price commodity contracts		0.6
Debt securities available for sale	1.2	10.5
Total assets recorded at fair value	118.6	248.3
Liabilities:
Contingent consideration	5.9	9.6
Hybrid instruments liability	64.5	34.2
Liability awards	1.3	1.1
Interest rate and cross currency swap agreements	$ 15.8	$ 12.2
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other current liabilities	Other current liabilities
Forward currency contracts	$ 1.7	$ 0.3
Fixed price commodity contracts	0.2
Embedded derivatives in purchase and delivery contracts	0.1
Total liabilities recorded at fair value	89.5	57.4
Recurring basis | Quoted Prices in Active Markets Available (Level 1)
Assets:
Time deposits and money market funds		34.0
Total assets recorded at fair value		34.0
Recurring basis | Significant Other Observable Inputs (Level 2)
Assets:
Time deposits and money market funds	78.8	164.7
Interest rate and cross currency swap agreements	38.2	37.8
Forward currency contracts	0.1	0.6
Embedded derivatives in purchase and delivery contracts	0.3	0.1
Fixed price commodity contracts		0.6
Total assets recorded at fair value	117.4	203.8
Liabilities:
Interest rate and cross currency swap agreements	$ 15.8	$ 12.2
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other current liabilities	Other current liabilities
Forward currency contracts	$ 1.7	$ 0.3
Fixed price commodity contracts	0.2
Embedded derivatives in purchase and delivery contracts	0.1
Total liabilities recorded at fair value	17.8	12.5
Recurring basis | Significant Unobservable Inputs (Level 3)
Assets:
Debt securities available for sale	1.2	10.5
Total assets recorded at fair value	1.2	10.5
Liabilities:
Contingent consideration	5.9	9.6
Hybrid instruments liability	64.5	34.2
Liability awards	1.3	1.1
Total liabilities recorded at fair value	$ 71.7	$ 44.9