Restructuring and Related Activities - Balance Sheet Location (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]
Restructuring Reserve	$ 19.2	$ 22.7	$ 0.4	$ 2.6
Other, including foreign currency	(1.7)	11.7
Facility Closing [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve	16.8	21.8	$ 0.0	$ 0.7
Other, including foreign currency	0.6	11.8
Other accrued expenses
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve	8.5	4.0
Other liabilities
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve	$ 10.7	$ 18.7