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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards        
Operating loss carryforwards, domestic $ 24.9      
Operating loss carryforwards, state and local 242.9      
Operating loss carryforwards, foreign 171.0      
Tax credit carryforwards 6.9      
Carryforwards expiring in 2022 8.4      
Tax credit carryforwards expiring between 2023 and 2040 235.7      
Decrease in valuation allowance 20.7 $ 2.2    
Income taxes on gain from sale of business 2.0      
Undistributed earnings of foreign subsidiaries 225.6      
Unrecognized tax benefit 4.5 7.1 $ 13.6 $ 17.2
Net unrecognized tax benefits 4.0 6.4 11.0  
Gross accrued interest 1.9 2.6 3.8  
Net accrued interest 1.7 2.2 3.0  
Gross interest income included in income tax (provision) benefit 0.6 1.0 0.2  
Penalties excluded 0.0 0.0 0.0  
Income tax expense (benefit) (7.3) (10.9) (4.8)  
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount 4.7      
Excess tax benefits from stock-based compensation awards vested during the year 1.7   2.8  
Effective income tax rate reconciliation tax expense benefit uncertain tax position amount 3.0      
Income tax benefits related to various valuation allowance adjustments, primarily due to foreign tax credits for which the future realization is considered likely   4.3    
Excess tax benefit, revaluation of deferred tax liabilities   3.5    
Expense associated with global, intangible low-taxed income   13.2    
Tax benefit related to various audit settlements, statute expirations, and other adjustments     $ 4.2  
Uncertain tax positions and interest with various refund claims period   $ 2.2    
Disposed of by Sale | Asbestos Portfolio Sale        
Operating Loss Carryforwards        
Income tax expense (benefit) 1.1      
Maximum        
Operating Loss Carryforwards        
Uncertain tax positions and interest with various refund claims period $ 3.0