Pension and Other Postretirement Benefit Plans - Amounts Recorded in Accumulated Other Comprehensive Loss Not Yet Recognized in Net Periodic Benefit Cost (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Pension | U.S.
Defined Benefit Plan Disclosure
Net unrecognized actuarial gain (loss)	$ (58.9)	$ (102.6)
Prior service credit (cost)	0.0	0.0
Pretax amounts recorded in accumulated other comprehensive loss not yet recognized in net periodic benefit cost (credit)	(58.9)	(102.6)
Pension | Foreign
Defined Benefit Plan Disclosure
Net unrecognized actuarial gain (loss)	(60.7)	(114.0)
Prior service credit (cost)	(0.5)	(0.6)
Pretax amounts recorded in accumulated other comprehensive loss not yet recognized in net periodic benefit cost (credit)	(61.2)	(114.6)
Other Postretirement | U.S.
Defined Benefit Plan Disclosure
Net unrecognized actuarial gain (loss)	38.2	13.6
Prior service credit (cost)	1.0	1.1
Pretax amounts recorded in accumulated other comprehensive loss not yet recognized in net periodic benefit cost (credit)	39.2	14.7
Other Postretirement | Foreign
Defined Benefit Plan Disclosure
Net unrecognized actuarial gain (loss)	4.1	(0.6)
Prior service credit (cost)	0.1	0.1
Pretax amounts recorded in accumulated other comprehensive loss not yet recognized in net periodic benefit cost (credit)	$ 4.2	$ (0.5)