Restructuring - Restructuring Liability Rollforward (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	$ 11.0	$ 19.1
Restructuring costs	5.1	11.7
Reversal of prior accruals	(1.3)	(2.1)
Cash payments	(10.5)	(16.5)
Asset write-offs	(0.1)	(0.6)
Foreign exchange translation and other	(0.3)	(0.6)
Restructuring liability as of December 31	3.9	11.0
Severance and other employee-related
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	10.9
Restructuring liability as of December 31	3.9	10.9
Other
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	0.1
Restructuring liability as of December 31	$ 0.0	$ 0.1