Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Statutory U.S. federal income tax rate	$ 74.5	$ 54.0	$ 71.5
Foreign income taxed at rates other than U.S. statutory rate	(29.1)	(22.4)	(16.9)
Changes in valuation allowances	37.9	1.6	18.1
Foreign exchange gains and losses	0.6	(5.4)	2.2
Unrecognized tax benefits	(6.0)	6.2	(4.9)
Foreign taxes	9.0	6.9	8.7
Non-deductible expenses	6.6	5.7	5.7
Tax credits	(8.8)	(8.7)	(6.7)
U.S. state and local taxes, net	5.4	4.8	5.0
Other, net	(3.9)	22.4	(6.6)
Total	$ 86.2	$ 65.1	$ 76.1
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Statutory U.S. federal income tax rate	21.00%	21.00%	21.00%
Foreign income taxed at rates other than U.S. statutory rate	(8.20%)	(8.70%)	(5.00%)
Changes in valuation allowances	10.70%	0.60%	5.30%
Foreign exchange gains and losses	0.20%	(2.10%)	0.60%
Unrecognized tax benefits	(1.70%)	2.40%	(1.40%)
Foreign taxes	2.50%	2.70%	2.50%
Non-deductible expenses	1.90%	2.20%	1.70%
Tax credits	(2.50%)	(3.40%)	(2.00%)
U.S. state and local taxes, net	1.50%	1.90%	1.50%
Other, net	(1.10%)	8.70%	(1.90%)
Total income tax provision / effective tax rate	24.30%	25.30%	22.30%
NETHERLANDS
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Increase to unrecognized tax benefits, tax expense		$ 23.0
Unrecognized tax benefits, adjustment to prior year tax filing position		$ 23.0