Derivative Instruments and Hedging Activities - Balance Sheet (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	$ (89.6)	$ 9.6
Derivative, Notional Amount	1,777.9	1,412.3
Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	(6.5)	25.6
Derivative Asset, Notional Amount	$ 378.3	$ 393.3
Designated as hedging instrument
Derivative instruments and hedging activities
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other long-term liabilities	Other long-term liabilities
Derivative Liability	$ (26.8)	$ (12.2)
Derivative Assets (Liabilities)	(91.8)	8.6
Derivative Asset, Notional Amount	$ 1,254.3	$ 1,200.9
Designated as hedging instrument | Other current assets
Derivative instruments and hedging activities
Derivative Asset, Statement of Financial Position [Extensible Enumeration]	Other current assets	Other current assets
Derivative Asset	$ 12.0	$ 14.8
Designated as hedging instrument | Other Assets
Derivative instruments and hedging activities
Derivative Asset, Statement of Financial Position [Extensible Enumeration]	Other long-term assets	Other long-term assets
Derivative Asset	$ 8.3	$ 23.0
Designated as hedging instrument | Long-term debt
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	(85.3)	(17.0)
Derivative Asset, Notional Amount	876.0	807.6
Not designated as hedging instruments
Derivative instruments and hedging activities
Derivative Assets (Liabilities)	2.2	1.0
Derivative, Notional Amount	523.6	211.4
Not designated as hedging instruments | Forward currency contract
Derivative instruments and hedging activities
Derivative Asset	$ 1.3	$ 0.6
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other current liabilities	Other current liabilities
Derivative Liability	$ (0.6)	$ (0.3)
Derivative Liability, Notional Amount	311.7	97.4
Derivative Asset, Notional Amount	$ 177.8	$ 89.8
Not designated as hedging instruments | Forward currency contract | Other current assets
Derivative instruments and hedging activities
Derivative Asset, Statement of Financial Position [Extensible Enumeration]	Other current assets	Other current assets
Not designated as hedging instruments | Embedded derivatives in purchase and delivery contracts
Derivative instruments and hedging activities
Derivative Asset	$ 1.2	$ 0.1
Derivative Liability, Statement of Financial Position [Extensible Enumeration]	Other current liabilities	Other current liabilities
Derivative Liability	$ 0.0
Derivative Liability, Notional Amount	0.1
Derivative Asset, Notional Amount	$ 25.6	$ 15.3
Not designated as hedging instruments | Embedded derivatives in purchase and delivery contracts | Other current assets
Derivative instruments and hedging activities
Derivative Asset, Statement of Financial Position [Extensible Enumeration]	Other current assets	Other current assets
Not designated as hedging instruments | Fixed price commodity contracts
Derivative instruments and hedging activities
Derivative Asset	$ 0.3	$ 0.6
Derivative Asset, Notional Amount	$ 8.4	$ 8.9
Not designated as hedging instruments | Fixed price commodity contracts | Other current assets
Derivative instruments and hedging activities
Derivative Asset, Statement of Financial Position [Extensible Enumeration]	Other current assets	Other current assets