Accumulated Other Comprehensive Loss - Schedule of unrecognized net defined benefit and postretirement plan costs (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Defined Benefit and Postretirement Plan Costs
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, net losses	$ 0.6	$ 0.6	$ 1.6	$ 1.7
Reclassification adjustment from AOCI on derivatives, net gains (losses)	0.4	0.5	1.2	1.3
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	2.3	(24.8)	8.1	(26.6)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	1.6	(19.1)	5.9	(20.7)
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	1.5	6.2	7.8	10.5
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	1.1	4.8	5.7	7.9
Change in Fair Value of Derivatives Products | Commodity Swaps
Accumulated Other Comprehensive Income Loss [Line Items]
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax	1.9	0.9	4.6	(0.2)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	1.4	0.7	3.5	(0.1)
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	(1.1)	(31.9)	(4.3)	(36.9)
Reclassification adjustment from AOCI on derivatives, tax expense (benefit)	$ (0.9)	$ (24.6)	$ (3.3)	$ (28.5)