Pension and Other Postretirement Benefit Plans - Amounts Recognized in Other Comprehensive Income (Loss) (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Pension | U.S.
Actuarial gains (losses) recognized:
Reclassification adjustments	$ 2.0	$ 3.9
Actuarial gain arising during the period	41.3	42.5
Effect of settlements	0.4	0.4
Prior service credit recognized:
Reclassification adjustments	0.0	0.0
Translation adjustment	0.0	0.0
Pretax amounts recognized in other comprehensive (income) loss	43.7	46.8
Pension | Foreign
Actuarial gains (losses) recognized:
Reclassification adjustments	4.1	6.0
Actuarial gain arising during the period	42.2	40.1
Effect of settlements	(0.2)	0.1
Prior service credit recognized:
Reclassification adjustments	0.0	0.0
Translation adjustment	7.3	1.4
Pretax amounts recognized in other comprehensive (income) loss	53.4	47.6
Other Postretirement | U.S.
Actuarial gains (losses) recognized:
Reclassification adjustments	(1.2)	(1.1)
Actuarial gain arising during the period	25.8	3.5
Effect of settlements	0.0	0.0
Prior service credit recognized:
Reclassification adjustments	(0.1)	(0.1)
Translation adjustment	0.0	0.0
Pretax amounts recognized in other comprehensive (income) loss	24.5	2.3
Other Postretirement | Foreign
Actuarial gains (losses) recognized:
Reclassification adjustments	0.0	0.0
Actuarial gain arising during the period	4.8	2.4
Effect of settlements	0.0	0.0
Prior service credit recognized:
Reclassification adjustments	0.0	0.0
Translation adjustment	(0.1)	0.0
Pretax amounts recognized in other comprehensive (income) loss	$ 4.7	$ 2.4