Pension and Other Postretirement Benefit Plans - Reconciliation of Change in Benefit Obligation, Change in Plan Assets and Amounts Recognized in Consolidated Balance Sheet (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
U.S. | Pension
Change in benefit obligation:
Benefit obligation at beginning of period	$ 536.5	$ 564.4
Service cost	0.0	0.0	$ 0.1
Interest cost	15.5	14.5	16.4
Actuarial gains	(142.3)	(23.0)
Benefits paid	(21.8)	(19.4)
Translation adjustment	0.0	0.0
Benefit obligation at end of period	387.9	536.5	564.4
Change in plan assets:
Fair value of plan assets at beginning of period	444.2	418.2
Actual return on plan assets	(77.1)	43.0
Employer contributions	3.2	2.4
Benefits paid	(21.8)	(19.4)
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	348.5	444.2	418.2
Funded status	(39.4)	(92.3)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(2.9)	(3.3)
Other long-term liabilities	(36.5)	(89.0)
U.S. | Other Postretirement
Change in benefit obligation:
Benefit obligation at beginning of period	56.0	61.2
Service cost	0.0	0.0
Interest cost	1.5	1.4	1.7
Actuarial gains	(25.8)	(3.5)
Benefits paid	(2.6)	(3.1)
Translation adjustment	0.0	0.0
Benefit obligation at end of period	29.1	56.0	61.2
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	2.6	3.1
Benefits paid	(2.6)	(3.1)
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	0.0
Funded status	(29.1)	(56.0)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(2.6)	(4.0)
Other long-term liabilities	(26.5)	(52.0)
Foreign | Pension
Change in benefit obligation:
Benefit obligation at beginning of period	479.9	529.2
Service cost	4.2	5.3	5.0
Interest cost	11.2	10.5	12.2
Actuarial gains	(98.3)	(32.8)
Benefits paid	(22.9)	(24.3)
Translation adjustment	(34.6)	(8.0)
Benefit obligation at end of period	339.5	479.9	529.2
Change in plan assets:
Fair value of plan assets at beginning of period	392.5	383.0
Actual return on plan assets	(41.0)	26.9
Employer contributions	6.1	5.6
Benefits paid	(22.9)	(24.3)
Translation adjustment	(27.7)	1.3
Fair value of plan assets at end of period	307.0	392.5	383.0
Funded status	(32.5)	(87.4)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	62.3	41.7
Accrued liabilities	(3.4)	(3.8)
Other long-term liabilities	(91.4)	(125.3)
Foreign | Other Postretirement
Change in benefit obligation:
Benefit obligation at beginning of period	24.5	27.4
Service cost	0.0	0.0
Interest cost	0.7	0.7	0.7
Actuarial gains	(4.8)	(2.4)
Benefits paid	(1.2)	(1.4)
Translation adjustment	(1.6)	0.2
Benefit obligation at end of period	17.6	24.5	27.4
Change in plan assets:
Fair value of plan assets at beginning of period	0.0	0.0
Actual return on plan assets	0.0	0.0
Employer contributions	1.2	1.4
Benefits paid	(1.2)	(1.4)
Translation adjustment	0.0	0.0
Fair value of plan assets at end of period	0.0	0.0	$ 0.0
Funded status	(17.6)	(24.5)
Amounts recognized in the consolidated balance sheet:
Other long-term assets	0.0	0.0
Accrued liabilities	(1.4)	(1.5)
Other long-term liabilities	$ (16.2)	$ (23.0)