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Financial Instruments - Fair Values of Derivative Instruments in Consolidated Balance Sheet (Details) - USD ($)
$ in Millions
Mar. 31, 2023
Dec. 31, 2022
Derivatives, Fair Value [Line Items]    
Asset derivatives $ 53.7 $ 69.2
Liability derivatives 22.0 17.4
Derivatives designated as hedging instruments:    
Derivatives, Fair Value [Line Items]    
Asset derivatives 52.4 65.7
Liability derivatives 21.6 17.1
Derivatives designated as hedging instruments: | Other current assets | Interest rate swaps    
Derivatives, Fair Value [Line Items]    
Asset derivatives 52.4 65.7
Derivatives designated as hedging instruments: | Other current assets | Cross-currency swaps    
Derivatives, Fair Value [Line Items]    
Asset derivatives 0.0 0.0
Derivatives designated as hedging instruments: | Other accrued & current liabilities | Interest rate swaps    
Derivatives, Fair Value [Line Items]    
Liability derivatives 1.2 0.0
Derivatives designated as hedging instruments: | Other accrued & current liabilities | Cross-currency swaps    
Derivatives, Fair Value [Line Items]    
Liability derivatives 20.4 17.1
Derivatives not designated as hedging instruments:    
Derivatives, Fair Value [Line Items]    
Asset derivatives 1.3 3.5
Liability derivatives 0.4 0.3
Derivatives not designated as hedging instruments: | Other current assets | Foreign exchange forward contracts    
Derivatives, Fair Value [Line Items]    
Asset derivatives 1.3 3.5
Derivatives not designated as hedging instruments: | Other accrued & current liabilities | Foreign exchange forward contracts    
Derivatives, Fair Value [Line Items]    
Liability derivatives $ 0.4 $ 0.3