Accumulated Other Comprehensive Loss - Schedule of unrecognized net defined benefit and postretirement plan costs (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Unrecognized Net Defined Benefit Plan Costs
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined plan costs, net gains	$ 2.4	$ 0.8	$ (1.0)
Reclassification adjustment from AOCI on unrecognized net defined plan costs, tax	1.9	0.7	(0.8)
Designated as Hedging Instrument
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	(1.2)	(34.4)	29.3
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	(1.4)	(26.4)	22.2
Designated as Hedging Instrument | Foreign Currency Forward Exchange Contracts
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	18.7	(5.2)	14.5
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	14.0	(4.0)	11.0
Designated as Hedging Instrument | Interest Rate Swap
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	(21.9)	(25.6)	9.3
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	(16.9)	(19.6)	7.0
Designated as Hedging Instrument | Commodity Swap Agreements
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on derivatives, net gains (losses)	2.0	(3.6)	5.5
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	$ 1.5	$ (2.8)	$ 4.2