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Pension, Health Care and Other Postretirement Benefits - Summary of the Components of the Net Pension Costs and Cumulative Other Comprehensive Loss Related to the Defined Benefit Pension Plans (Details) - Defined Benefit Pension - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Domestic Defined Benefit Pension Plan |  |  |
Net pension cost: |  |  |
Service cost | $ 4.6 | $ 4.9 | $ 4.4
Interest cost | 3.2 | 2.7 | 3.2
Expected return on plan assets | (7.6) | (7.1) | (6.3)
Amortization of prior service cost (credit) | 1.0 | 1.1 | 1.4
Ongoing pension cost | 1.2 | 1.6 | 2.7
Net pension cost | 1.2 | 1.6 | 2.7
Other changes in plan assets and projected benefit obligation recognized in AOCI (before taxes): |  |  |
Net actuarial losses (gains) arising during the year | 5.0 | (10.5) | (4.5)
Prior service cost (credit) arising during the year | 1.6 | 1.4 | 0.2
Amortization of prior service (cost) credit | (1.0) | (1.1) | (1.4)
Total recognized in AOCI | 5.6 | (10.2) | (5.7)
Total recognized in net pension cost and AOCI | 6.8 | (8.6) | (3.0)
Foreign Defined Benefit Pension Plans |  |  |
Net pension cost: |  |  |
Service cost | 6.3 | 7.4 | 6.8
Interest cost | 7.3 | 5.7 | 6.9
Expected return on plan assets | (9.4) | (9.6) | (10.0)
Amortization of prior service cost (credit) | (0.2) | (0.1) |
Amortization of actuarial losses | 0.2 | 1.5 | 1.0
Ongoing pension cost | 4.2 | 4.9 | 4.7
Settlement costs | (0.3) | 0.3 | 0.2
Net pension cost | 3.9 | 5.2 | 4.9
Other changes in plan assets and projected benefit obligation recognized in AOCI (before taxes): |  |  |
Net actuarial losses (gains) arising during the year | (29.6) | (44.9) | 7.0
Prior service cost (credit) arising during the year | (0.3) | (1.0) | (0.5)
Amortization of actuarial losses | (0.2) | (1.5) | (1.0)
Amortization of prior service (cost) credit | 0.2 | 0.1 |
Gain (loss) recognized for settlement | 0.3 | (0.3) | (0.2)
Exchange rate (loss) gain recognized during the year | (0.4) | (0.6) | 1.7
Total recognized in AOCI | (30.0) | (48.2) | 7.0
Total recognized in net pension cost and AOCI | $ (26.1) | $ (43.0) | $ 11.9

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