Shareholders' Equity - Components of Accumulated Other Comprehensive Loss, Net of Tax (Details) - USD ($) $ in Millions	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	$ 2,413.3	$ 2,449.8	$ 2,509.4	$ 2,458.1	$ 2,416.6	$ 2,444.8	$ 2,556.1	$ 2,531.7
Defined benefit pension plans, net of income tax benefit of $(20.1) and $(20.4), respectively
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(14.5)			(12.2)
Retiree health care plan, net of income taxes of $1.8 and $1.9, respectively
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	0.7			1.2
Gain on interest rate swap, net of income taxes of $0.4 on both dates
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	1.1			1.4
Foreign currency translation
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(362.5)			(369.7)
Translation loss on long-term intercompany loans, net of income taxes of $19.1 on both dates
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(133.4)			(132.8)
Gain (loss) on derivative instruments, net of income tax benefit of $(4.8) and $(5.3), respectively
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	25.5			53.4
Accumulated other comprehensive loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	$ (483.1)	$ (459.5)	$ (451.6)	$ (458.7)	$ (533.2)	$ (471.5)	$ (399.6)	$ (389.4)