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Employee Benefit Plans - Net Periodic Expense (Income) and Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Defined Benefit Plan, Net Periodic Benefit Cost      
Amortization of unrecognized prior service credits $ 0.1 $ 0.0 $ 0.0
United States      
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0 0.0
Interest cost 10.5 8.4 10.8
Expected return on plan assets (8.2) (8.7) (9.5)
Amortization of unrecognized prior service credits (0.1) (0.1) (0.1)
Recognized net actuarial (gains) losses (1.6) (4.2) 4.7
Total net periodic pension benefit (income) expense $ 0.6 $ (4.6) $ 5.9
Weighted-average actuarial assumptions used in determining net periodic pension expense:      
Discount rate 3.99% 2.35% 3.16%
Expected long-term rate of return on assets 3.23% 3.22% 3.75%
Weighted-average actuarial assumptions used in determining year-end benefit obligations:      
Discount rate used in determining year-end postretirement benefit obligation 5.54% 2.83% 2.35%
United States | Pension plans      
Defined Benefit Plan, Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets      
Projected benefit obligation $ 242.1 $ 329.0  
Accumulated benefit obligation 242.1 329.0  
Fair value of plan assets 170.2 251.8  
Accumulated benefit obligation 246.9 335.4  
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0  
Interest cost 10.5 8.4  
Foreign Plan      
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0 $ 0.0
Interest cost 3.7 3.4 3.8
Expected return on plan assets (5.6) (5.8) (5.7)
Recognized net actuarial (gains) losses 6.4 (1.8) 0.2
Total net periodic pension benefit (income) expense $ 4.6 $ (4.2) $ (1.7)
Weighted-average actuarial assumptions used in determining net periodic pension expense:      
Discount rate 2.19% 1.76% 2.27%
Expected long-term rate of return on assets 3.44% 3.31% 3.81%
Weighted-average actuarial assumptions used in determining year-end benefit obligations:      
Discount rate used in determining year-end postretirement benefit obligation 5.15% 2.19% 1.76%
Foreign Plan | Pension plans      
Defined Benefit Plan, Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets      
Projected benefit obligation $ 0.1 $ 0.2  
Accumulated benefit obligation 0.1 0.2  
Fair value of plan assets 0.0 0.0  
Accumulated benefit obligation 109.5 182.4  
Defined Benefit Plan, Net Periodic Benefit Cost      
Service cost 0.0 0.0  
Interest cost $ 3.7 $ 3.4