Restructuring - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Jun. 30, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expense	$ 6.4	$ 1.5	$ 9.7	$ 2.9
Decrease in restructuring reserve			2.9
Restructuring costs incurred to date	15.1		15.1			$ 5.4
Charged to Earnings			12.1
Restructuring charges, release of liability			2.4
2022/2023 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Total expected restructuring cost under plan	16.0		16.0		$ 8.0
2022/2023 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Total expected restructuring cost under plan	18.0		18.0		$ 10.0
Severance and related expense
Restructuring Cost and Reserve [Line Items]
Restructuring costs incurred to date	$ 13.9		13.9			$ 5.4
Charged to Earnings			10.9
Restructuring charges, release of liability			$ 2.4