Leases - Balance sheet by asset category (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Lessee, Lease, Description [Line Items]
Operating lease ROU Asset	$ 43.3	$ 46.9
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Other Assets, Noncurrent	Other Assets, Noncurrent
Property, plant and equipment, gross	$ 595.6	$ 608.8
Less: Accumulated depreciation	(398.8)	(408.1)
Property, plant and equipment, net	196.8	200.7	$ 212.3
Finance Leased Asset
Lessee, Lease, Description [Line Items]
Less: Accumulated depreciation	(6.1)	(4.2)
Property, plant and equipment, net	4.6	3.2
Finance Leased Automobile
Lessee, Lease, Description [Line Items]
Property, plant and equipment, gross	0.1	0.1
Finance Leased Machinery and Equipment
Lessee, Lease, Description [Line Items]
Property, plant and equipment, gross	10.6	7.3
Real Estate
Lessee, Lease, Description [Line Items]
Operating lease ROU Asset	40.0	43.4
Automobile
Lessee, Lease, Description [Line Items]
Operating lease ROU Asset	2.4	2.2
Machinery and equipment.
Lessee, Lease, Description [Line Items]
Operating lease ROU Asset	$ 0.9	$ 1.3