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Pension and Other Postretirement Benefit Plans - Components of Net Periodic Benefit Costs (Credit) (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Defined Benefit Plans and Other Postretirement Benefit Plans      
Settlement (gains) losses     $ 12.9
Pension | U.S.      
Defined Benefit Plans and Other Postretirement Benefit Plans      
Service cost $ 0.0 $ 0.0 0.1
Interest cost 15.5 14.5 16.4
Expected return on plan assets (23.9) (23.5) (21.4)
Amortization of actuarial gain 2.0 3.9 2.3
Settlement (gains) losses 0.4 0.4 0.3
Net periodic benefit cost (credit) (6.0) (4.7) (2.3)
Pension | Foreign      
Defined Benefit Plans and Other Postretirement Benefit Plans      
Service cost 4.2 5.3 5.0
Interest cost 11.2 10.5 12.2
Expected return on plan assets (17.2) (19.6) (19.6)
Amortization of actuarial gain 4.1 6.1 5.2
Settlement (gains) losses (0.2) 0.0 13.0
Net periodic benefit cost (credit) 2.1 2.3 15.8
Other Postretirement | U.S.      
Defined Benefit Plans and Other Postretirement Benefit Plans      
Service cost 0.0 0.0  
Interest cost 1.5 1.4 1.7
Amortization of actuarial gain (1.2) (1.1) (1.6)
Amortization of prior service credit (0.1) (0.1) (0.2)
Net periodic benefit cost (credit) 0.2 0.2 (0.1)
Other Postretirement | Foreign      
Defined Benefit Plans and Other Postretirement Benefit Plans      
Service cost 0.0 0.0  
Interest cost 0.7 0.7 0.7
Amortization of actuarial gain 0.0 0.0 0.0
Amortization of prior service credit 0.0 0.0 0.0
Net periodic benefit cost (credit) $ 0.7 $ 0.7 $ 0.7