Restructuring and Acquisition-Related Costs - Restructuring Reserve Narrative (Details) - USD ($) $ in Millions	12 Months Ended			36 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 21.7	$ 43.2	$ 58.4
Minimum [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost remaining	10.0			$ 10.0
Maximum [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring and related cost, expected cost remaining	20.0			20.0
Driveline [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	1.6	4.7	19.3
Metal Forming [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	14.3	6.5	16.0
Employee Severance [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	3.5	2.9	22.3
Other Restructuring [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	18.2	$ 40.3	$ 36.1
2020 Restructuring Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	13.3			$ 100.6
Emporium, Pennsylvania [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 8.4