Derivative Instruments and Hedging Activities - Balance Sheet (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Designated derivative assets:
Derivatives, Fair Value [Line Items]
Assets	$ 30.9	$ 52.3
Liabilities	183.7	100.3
Non-designated derivative assets:
Derivatives, Fair Value [Line Items]
Assets	0.2	2.4
Foreign currency forward contracts | Designated derivative assets: | Prepaid expenses and other current assets
Derivatives, Fair Value [Line Items]
Assets	0.0	1.1
Foreign currency forward contracts | Designated derivative assets: | Other non-current assets
Derivatives, Fair Value [Line Items]
Assets	0.4	0.7
Foreign currency forward contracts | Designated derivative assets: | Other accrued liabilities
Derivatives, Fair Value [Line Items]
Liabilities	0.0	4.2
Foreign currency forward contracts | Non-designated derivative assets: | Prepaid expenses and other current assets
Derivatives, Fair Value [Line Items]
Assets	0.2	2.4
Foreign currency forward contracts | Non-designated derivative assets: | Other accrued liabilities
Derivatives, Fair Value [Line Items]
Liabilities	2.7	1.0
Interest rate swap agreements | Designated derivative assets: | Prepaid expenses and other current assets
Derivatives, Fair Value [Line Items]
Assets	0.0	3.0
Interest rate swap agreements | Designated derivative assets: | Other non-current assets
Derivatives, Fair Value [Line Items]
Assets	30.5	47.5
Interest rate swap agreements | Designated derivative assets: | Other non-current liabilities
Derivatives, Fair Value [Line Items]
Liabilities	11.7	0.0
Cross-currency swap | Designated derivative assets: | Other accrued liabilities
Derivatives, Fair Value [Line Items]
Liabilities	75.1	0.0
Cross-currency swap | Designated derivative assets: | Other non-current liabilities
Derivatives, Fair Value [Line Items]
Liabilities	$ 96.9	$ 96.1