Retirement and Other Postretirement Benefit Plans - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
U.S. retirement saving plan
Expected contribution in 2023	$ 1.5
Employer contribution	$ 1.5	$ 2.1		$ 2.0
Total plan assets invested in active corporate bond funds (as a percent)	100.00%	100.00%
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) Excluding Service Cost, Statement of Income or Comprehensive Income [Extensible Enumeration]			Comprehensive Income (Loss), Net of Tax, Attributable to Parent
Amounts recognized in Accumulated Other Comprehensive Loss:
Fair value of plan assets	$ 122.1	$ 231.4
Impact of one-percentage-point increase and a one-percentage-point decrease in the discount rate on retirement obligation as of December 31, 2019
Assumed annual rate of increase in the per capita cost of covered health care benefits for medical care (as a percent)	6.50%
Ultimate annual rate of increase in the per capita cost of covered health care benefits for medical care (as a percent)	4.75%
Non-Qualified Deferred Compensation Plan
U.S. retirement saving plan
Employer contribution as a percentage of employee contribution (as a percent)	50.00%
Maximum | Non-Qualified Deferred Compensation Plan
U.S. retirement saving plan
Employer matching contribution as a percentage of employee's annual compensation (as a percent)	6.00%
U.S. Retirement Savings Plan
U.S. retirement saving plan
Employer contribution as a percentage of employee contribution (as a percent)	50.00%
Employer matching contribution as a percentage of employee's annual compensation (as a percent)	3.00%
Employer matching contribution as a targeted percentage of employee's annual compensation (as a percent)	3.00%
U.S. Retirement Savings Plan | Maximum
U.S. retirement saving plan
Employer matching contribution as a percentage of employee's annual compensation (as a percent)	4.50%
Additional employer contribution as a percentage of eligible income depending on employee's age (as a percent)	4.00%
Maximum employer contribution to individual 401(k) retirement saving account, after additional contribution (as a percent)	7.00%
Percentage of employee's annual compensation allowed as contribution to individual 401(k) retirement saving account (as a percent)	75.00%
U.S. Retirement Savings Plan | Minimum
U.S. retirement saving plan
Additional employer contribution as a percentage of eligible income depending on employee's age (as a percent)	2.00%
Maximum employer contribution to individual 401(k) retirement saving account, after additional contribution (as a percent)	5.00%
UK Defined Contribution Pension Plan
U.S. retirement saving plan
Percentage of pensionable salary that eligible employees can elect to contribute under the first option	3.00%
Percentage of pensionable salary that eligible employees can elect to contribute under the second option	5.00%
Percentage of pensionable salary that eligible employees can elect to contribute under the third option	7.00%
Company's contribution under the first option (as a percent)	5.00%
Company's contribution under the second option (as a percent)	9.00%
Company's contribution under the third option (as a percent)	13.00%
Collective-Bargaining Arrangement
U.S. retirement saving plan
Minimum percentage of the Plan's total contributions contributed by the entity	5.00%	5.00%	5.00%
Multiemployer Plans, Collective-Bargaining Arrangement, Description	The collective bargaining agreement was renewed on November 20, 2020 retroactively to October 1, 2020 for a five-year term.
European Plans
U.S. retirement saving plan
Expected long-term weighted average rate of return for next fiscal year (as a percent)	3.00%
Amounts recognized in Accumulated Other Comprehensive Loss:
Total accumulated benefit obligation	$ 16.3	$ 20.7
Accumulated benefit obligation in excess of plan assets	$ 12.2	16.1
United Kingdom defined benefit plan (the U.K. Plan)
Defined Benefit Plan Disclosure [Line Items]
Long term trend rate of improvement	1.25%
Description of long term trend rate of improvement	The mortality table used for the U.S. plans is based on the Pri-2012 White Collar Healthy Annuitant Mortality Table with Improvement Scale MP-2021 and for the U.K. Plan the S2PXA base table with future improvements in line with the CMI 2021 projection model with a long-term trend rate of 1.25% p. a.
U.S. retirement saving plan
Expected long-term weighted average rate of return for next fiscal year (as a percent)	0.95%
Amounts recognized in Accumulated Other Comprehensive Loss:
Total accumulated benefit obligation	$ 112.3	219.9
Fair value of plan assets	117.9	226.8
Defined Benefit Retirement Plans
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss
Amounts unrelated to service costs, benefit	2.4	0.1	$ 3.1
Defined Benefit Retirement Plans | U.S. Plans
Amounts recognized on the balance sheet:
Expected employer contribution in next fiscal year	0.7
Amounts recognized in Accumulated Other Comprehensive Loss:
Total accumulated benefit obligation	19.8	23.6
Defined Benefit Retirement Plans | European Plans
Amounts recognized in Accumulated Other Comprehensive Loss:
Fair value of plan assets	122.1	$ 231.4	$ 233.8
U.S. Postretirement Plans
U.S. retirement saving plan
Expected contribution in 2023	$ 0.2