CONSOLIDATED STATEMENTS OF EQUITY (Parenthetical) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]
Tax benefit (expense) on change in retirement obligations, tax	$ 6.8	$ 5.3	$ 0.1
Tax benefit from change on derivatives designated as cash flow hedges, tax		$ 0.8	$ 1.4
Issuance of common stock from issuance of unvested shares, exercise of stock options and deferred compensation plans (in shares)	243,895	258,875	688,563
Deferred compensation plan, tax	$ 3.1	$ 3.1	$ 5.0
Repurchase of common stock (in shares)	795,423	0	876,423
Cash dividends declared, per common share outstanding (in dollars per share)	$ 2.40	$ 2.16	$ 2.00
Cumulative translation adjustment	$ (74.9)	$ (75.6)	$ 107.8