Retirement and Other Postretirement Benefit Plans - Schedule of Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Income Loss (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Postretirement Plans
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss
Net loss (gain)	$ 0.5	$ 0.7	$ 0.5
Amortization of actuarial (losses) gains	1.1	0.8	1.0
Prior service cost
Effect of foreign exchange
Total recognized in other comprehensive loss, (pre-tax)	0.6	0.1	0.5
U.S. Plans | Defined Benefit Retirement Plans
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss
Net loss (gain)	2.3	0.7	(1.6)
Amortization of actuarial (losses) gains	(0.8)
Prior service cost	0.1
Effect of foreign exchange
Total recognized in other comprehensive loss, (pre-tax)	(3.0)	(0.7)	1.6
European Plans | Defined Benefit Retirement Plans
Other Changes in Plan Assets and Benefit Obligations Recognized in Other Comprehensive Loss
Net loss (gain)	4.3	(29.4)	(20.2)
Amortization of actuarial (losses) gains	(2.1)	(1.3)	(0.5)
Prior service cost
Effect of foreign exchange	(8.3)	(1.2)	1.7
Total recognized in other comprehensive loss, (pre-tax)	$ (14.7)	$ 26.9	$ 21.4