Benefit Plans - Components of Net Periodic Benefit Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Components of net periodic benefit cost
Settlement loss	$ 10.1	$ 0.0	$ 0.0
Other Benefits
Components of net periodic benefit cost
Service cost	0.0	0.1	0.1
Interest cost	0.2	0.7	0.8
Recognition/establishment of Germany benefit obligation	0.0	0.0	0.0
Expected return on plan assets	0.0	0.0	0.0
Defined Benefit Plan, Other Cost (Credit)	0.0	0.0	0.0
Amortization of prior service cost	0.0	0.0	0.0
Recognized net actuarial loss	(0.4)	0.2	0.4
Settlement loss	0.0	0.0	0.0
Net periodic pension benefit cost	(0.2)	1.0	1.3
Prior service credit/loss recognized during the year	0.0	0.0
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, before Tax	1.2	8.0
Foreign Plan [Member] | Pension Benefits
Components of net periodic benefit cost
Service cost	8.9	9.8	9.8
Interest cost	4.1	2.9	4.0
Recognition/establishment of Germany benefit obligation	0.0	0.0	0.0
Expected return on plan assets	(14.5)	(14.5)	(13.4)
Defined Benefit Plan, Other Cost (Credit)	0.0	0.0	0.2
Amortization of prior service cost	(0.4)	(0.1)	2.8
Recognized net actuarial loss	(1.6)	0.3	(0.6)
Settlement loss	(4.1)	(1.1)	1.1
Net periodic pension benefit cost	(7.6)	(2.7)	3.9
Prior service credit/loss recognized during the year	2.4	0.0
Defined Benefit Plan, Expected Amortization of Prior Service Cost (Credit), Next Fiscal Year	(0.7)
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, before Tax	38.4	23.6
U.S. Plans
Components of net periodic benefit cost
Settlement loss	14.3
U.S. Plans | Pension Benefits
Components of net periodic benefit cost
Service cost	0.0	0.0	3.8
Interest cost	17.3	15.9	18.9
Recognition/establishment of Germany benefit obligation	0.0	0.0	0.0
Expected return on plan assets	(21.2)	(22.3)	(25.4)
Defined Benefit Plan, Other Cost (Credit)	0.0	0.0	0.0
Amortization of prior service cost	0.0	0.0	0.0
Recognized net actuarial loss	4.4	8.9	7.8
Settlement loss		0.0	0.0
Net periodic pension benefit cost	14.8	2.5	$ 5.1
Prior service credit/loss recognized during the year	0.0	0.0
Defined Benefit Plan, Expected Amortization of Prior Service Cost (Credit), Next Fiscal Year	0.0
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, before Tax	$ (1.1)	$ 50.6