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Pension and Other Postretirement Benefit Plans - Pension Plan Assets by Asset Category (Details) - Pension - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
U.S.
Defined Benefit Plan Disclosure
Assets at fair value	$ 348.5	$ 444.2	$ 418.2
U.S. | Fair value, Measurements, Recurring
Defined Benefit Plan Disclosure
Assets at fair value	348.5	444.2
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3
Defined Benefit Plan Disclosure
Assets at fair value	285.9	381.8
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	65.2	100.9
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	54.9	87.1
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	79.1	95.1
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	63.4	83.8
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	9.7	5.2
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Preferred stock
Defined Benefit Plan Disclosure
Assets at fair value	0.2	1.2
U.S. | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	13.4	8.5
U.S. | Fair value, Measurements, Recurring | Level 1
Defined Benefit Plan Disclosure
Assets at fair value	174.0	233.9
U.S. | Fair value, Measurements, Recurring | Level 1 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	52.1	80.0
U.S. | Fair value, Measurements, Recurring | Level 1 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	39.8	56.3
U.S. | Fair value, Measurements, Recurring | Level 1 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	79.1	95.1
U.S. | Fair value, Measurements, Recurring | Level 1 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 1 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 1 | Preferred stock
Defined Benefit Plan Disclosure
Assets at fair value	0.2	0.4
U.S. | Fair value, Measurements, Recurring | Level 1 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	2.8	2.1
U.S. | Fair value, Measurements, Recurring | Level 2
Defined Benefit Plan Disclosure
Assets at fair value	111.9	147.9
U.S. | Fair value, Measurements, Recurring | Level 2 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	13.1	20.9
U.S. | Fair value, Measurements, Recurring | Level 2 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	15.1	30.8
U.S. | Fair value, Measurements, Recurring | Level 2 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 2 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	63.4	83.8
U.S. | Fair value, Measurements, Recurring | Level 2 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	9.7	5.2
U.S. | Fair value, Measurements, Recurring | Level 2 | Preferred stock
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.8
U.S. | Fair value, Measurements, Recurring | Level 2 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	10.6	6.4
U.S. | Fair value, Measurements, Recurring | Level 3
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Preferred stock
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Level 3 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
U.S. | Fair value, Measurements, Recurring | Alternative investments
Defined Benefit Plan Disclosure
Assets at fair value	62.6	62.4
Foreign
Defined Benefit Plan Disclosure
Assets at fair value	307.0	392.5	$ 383.0
Foreign | Fair value, Measurements, Recurring
Defined Benefit Plan Disclosure
Assets at fair value	307.0	392.5
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3
Defined Benefit Plan Disclosure
Assets at fair value	273.9	363.6
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	55.2	147.2
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	32.9	59.5
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	43.4	63.3
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	15.9	28.8
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	113.2	51.8
Foreign | Fair value, Measurements, Recurring | Fair Value, Inputs, Level 1, 2 and 3 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	13.3	13.0
Foreign | Fair value, Measurements, Recurring | Level 1
Defined Benefit Plan Disclosure
Assets at fair value	36.1	67.4
Foreign | Fair value, Measurements, Recurring | Level 1 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 1 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	32.9	59.5
Foreign | Fair value, Measurements, Recurring | Level 1 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 1 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 1 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 1 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	3.2	7.9
Foreign | Fair value, Measurements, Recurring | Level 2
Defined Benefit Plan Disclosure
Assets at fair value	237.8	296.2
Foreign | Fair value, Measurements, Recurring | Level 2 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	55.2	147.2
Foreign | Fair value, Measurements, Recurring | Level 2 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 2 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	43.4	63.3
Foreign | Fair value, Measurements, Recurring | Level 2 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	15.9	28.8
Foreign | Fair value, Measurements, Recurring | Level 2 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	113.2	51.8
Foreign | Fair value, Measurements, Recurring | Level 2 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	10.1	5.1
Foreign | Fair value, Measurements, Recurring | Level 3
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Equity funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Common stock
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Fixed income funds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Corporate bonds
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Government obligations
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Level 3 | Cash and short-term investments
Defined Benefit Plan Disclosure
Assets at fair value	0.0	0.0
Foreign | Fair value, Measurements, Recurring | Alternative investments
Defined Benefit Plan Disclosure
Assets at fair value	$ 33.1	$ 28.9

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