Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Millions	Mar. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Receivables, allowances	$ 38.5	$ 38.1
Allowance for contract assets	1.3	1.1
Property, plant and equipment, accumulated depreciation	2,506.9	2,204.0
Intangible assets, accumulated amortization	$ 598.7	$ 575.5
Ordinary shares, par value (usd per share)	$ 1.00	$ 1.00
Ordinary shares, shares authorized (in shares)	618,300,000	618,300,000
Ordinary shares, shares issued (in shares)	452,200,000	450,700,000
Ordinary shares, shares outstanding (in shares)	452,200,000	450,700,000