Restructuring - 2020 Global Restructuring Plan Rollforward (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	$ 3.9	$ 11.0
Restructuring Charges	9.9	3.8	$ 9.6
Cash payments	(7.3)	(10.5)
Asset write-offs	1.8	0.1
Foreign exchange translation and other	0.1	(0.3)
Restructuring liability as of December 31	$ 4.8	$ 3.9	$ 11.0