Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward [Line Items]
Income tax credits	$ 22.8	$ 22.8
Loss carryforwards	14.0
Valuation allowance	32.2	32.6
Undistributed earnings of foreign subsidiaries	400.0
Income taxes paid	168.0	84.0	$ 96.2
Unrecognized tax benefits that would impact effective tax rate	33.9
Unrecognized tax benefits timing of deductibility unknown	4.3
Unrecognized tax benefits, income tax penalties and interest expense	(1.0)	0.3	$ 0.2
Unrecognized tax benefits, income tax penalties and interest accrued	6.7	$ 7.6
Minimum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	5.0
Maximum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	11.0
Tax credit carryforward indefinitely
Tax Credit Carryforward [Line Items]
Income tax credits	1.9
Loss carryforwards	5.5
Carryforward Subject To Expiration
Tax Credit Carryforward [Line Items]
Income tax credits	20.9
Loss carryforwards	$ 8.5