Accumulated Other Comprehensive Loss - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Unrecognized Net Defined Plan Costs
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, net losses	$ 0.5	$ 0.5
Reclassification adjustment from AOCI on derivatives, net gains (losses)	0.4	0.3
Change in Fair Value of Derivatives Products
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax	2.5	(7.6)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	1.8	(6.0)
Change in Fair Value of Derivatives Products | Foreign Currency Forward Exchange Contracts
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax	3.7	0.7
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	2.7	0.4
Change in Fair Value of Derivatives Products | Commodity Swap Agreements
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax	0.9	(0.8)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	0.7	(0.6)
Change in Fair Value of Derivatives Products | Interest Rate Derivatives
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax	(2.1)	(7.5)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	$ (1.6)	$ (5.8)