Derivative Instruments and Hedging Activities - Income and Comprehensive Income Statement (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Not designated as hedging instruments
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ (5.4)	$ 2.6	$ 3.0
Not designated as hedging instruments | Interest and other income (expense), net | Forward currency contract
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	(5.5)	2.1	3.0
Not designated as hedging instruments | Interest and other income (expense), net | Embedded derivatives in purchase and delivery contracts
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	0.1	0.5	0.0
Designated as hedging instrument | Cash Flow Hedging
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	0.1	9.7	3.6
Designated as hedging instrument | Cash Flow Hedging | Accumulated other comprehensive income | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	15.0	(20.4)	2.0
Designated as hedging instrument | Cash Flow Hedging | Interest and other income (expense), net | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	(4.7)	(3.0)
Designated as hedging instrument | Net Investment Hedging
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	51.4	(75.8)	(15.7)
Designated as hedging instrument | Net Investment Hedging | Accumulated other comprehensive income
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	36.4	(55.4)	(17.7)
Designated as hedging instrument | Net Investment Hedging | Accumulated other comprehensive income | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	25.6	(26.7)	(8.8)
Designated as hedging instrument | Net Investment Hedging | Accumulated other comprehensive income | Long-term Debt [Member]
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses		(28.7)
Designated as hedging instrument | Net Investment Hedging | Interest and other income (expense), net | Interest rate and cross currency swap agreements
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	10.2	$ 10.1	0.6
Designated as hedging instrument | Net Investment Hedging | Interest and other income (expense), net | Long-term Debt [Member]
Derivative instruments and hedging activities
Impact on net income of unrealized gains and losses	$ 10.8		$ (8.9)