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Accrued Liabilities - Summary (Details) - USD ($)
$ in Millions
Dec. 31, 2021
Dec. 31, 2020
Accrued Liabilities [Abstract]    
Salaries, wages, and related fringe benefits $ 232.1 $ 197.0
Contract liabilities 242.1 164.6
Product warranty 42.5 41.1
Operating lease liabilities 34.9 47.1
Restructuring 12.3 17.5
Taxes 41.6 116.1
Other 135.8 125.5
Total accrued liabilities $ 741.3 $ 708.9