Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Receivables, allowances	$ 38.1	$ 40.2
Allowance for contract assets	$ 1.1	$ 2.4
Ordinary shares, par value (in dollars)	$ 1	$ 1
Ordinary shares, shares authorized (in shares)	618,300,000	618,300,000
Ordinary shares, shares issued (in shares)	450,700,000	449,500,000
Ordinary shares, shares outstanding (in shares)	450,700,000	449,500,000
Canceled shares (in shares)	0	0
Ordinary shares, $1 par value; 618.3 shares authorized in 2021 and 2020; 450.7 shares and 449.5 shares issued and outstanding in 2021 and 2020, respectively; nil shares canceled in 2021 and 2020, respectively	$ 450.7	$ 449.5