Consolidated Balance Sheets (Parenthetical) - USD ($) shares in Millions, $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Receivables, allowances	$ 34.4	$ 34.1
Allowance for contract assets	$ 1.4	$ 1.1
Ordinary shares, par value (in dollars)	$ 1	$ 1
Ordinary shares, shares authorized (in shares)	618.3	618.3
Ordinary shares, shares issued (in shares)	432.9	442.2
Ordinary shares, shares outstanding (in shares)	432.9	442.2