Restructuring - Restructuring Reserve Activity (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring accrual balances and related activity
Balance at beginning of period	$ 35.3	$ 62.9	$ 42.6
Liabilities incurred			81.6
Liabilities paid/settled	(53.6)	(43.0)	(61.3)
Balance at end of period	$ 44.2	$ 35.3	$ 62.9