Restructuring Charges - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Asset impairment	$ 90.0	$ 0.0	$ 173.1
Additional charges	42.2	42.5	16.9
Restructuring liability	12.2	19.8	6.9	$ 9.1
Supply Chain Reinvention
Restructuring Cost and Reserve [Line Items]
Asset impairment	16.1
Additional charges	28.0	24.3
Restructuring liability	0.7	2.2	0.0
CSCI
Restructuring Cost and Reserve [Line Items]
Additional charges	21.4	29.4	6.1
CSCA
Restructuring Cost and Reserve [Line Items]
Additional charges	$ 13.0	$ 2.5	$ 7.9