Retirement and Other Postretirement Benefit Plans - Schedule of Net Periodic Cost of Defined Benefit Retirement and Postretirement Plans (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net periodic benefit costs of defined benefit retirement plans
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
Net periodic pension cost (income)	$ (5.7)	$ 2.6	$ 0.1
Defined Benefit Retirement Plans | U.S. Plans
Net periodic benefit costs of defined benefit retirement plans
Service cost	1.2	1.1	1.2
Interest cost	0.4	0.2	0.5
Net amortization	1.0	0.8	0.3
Net periodic pension cost (income)	2.6	2.1	2.0
Defined Benefit Retirement Plans | European Plans
Net periodic benefit costs of defined benefit retirement plans
Service cost	0.7	0.9	1.1
Interest cost	2.1	2.2	3.5
Expected return on plan assets	(2.1)	(3.6)	(6.9)
Net amortization	2.1	1.1	0.4
Net periodic pension cost (income)	(2.8)	0.6	(1.9)
U.S. Postretirement Plans
Net periodic benefit costs of defined benefit retirement plans
Interest cost	0.0		0.1
Net amortization	(1.1)	(0.8)	(1.0)
Net periodic pension cost (income)	$ (1.1)	$ (0.8)	$ (0.9)