Restructuring - Restructuring Reserve Activity (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring accrual balances and related activity
Balance at beginning of period	$ 62.9	$ 42.6	$ 56.9
Liabilities incurred	15.4	81.6	50.2
Liabilities paid/settled	(43.0)	(61.3)	(64.5)
Balance at end of period	$ 35.3	$ 62.9	$ 42.6