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Pension and Other Postretirement Benefit Plans - Narrative (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
pension_plan
agreement
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2023
USD ($)
Defined Benefit Plan Disclosure        
Accumulated benefit obligation $ 720.5 $ 1,012.4    
Tax (expense) benefit related to defined benefit plans recognized in other comprehensive income (loss) $ (24.9) (22.7) $ 18.5  
Defined benefit plan, loss due to settlement     $ 12.9  
Defined Benefit Plan, Net Periodic Benefit (Cost) Credit, Settlement Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]     Cost of sales, Selling, general and administrative expenses, Other Income (Expense), Net  
Number of multi-employer pension plans | pension_plan 2      
Number of collective bargaining agreements | agreement 4      
Defined Contribution Retirement Program        
Defined Benefit Plan Disclosure        
Defined contribution expense $ 23.5 $ 20.4 $ 18.3  
Unionized Employees | Multi-employer Plan Total Contributions        
Defined Benefit Plan Disclosure        
Concentration risk percentage (more than) 5.00% 5.00%    
U.S. | Minimum        
Defined Benefit Plan Disclosure        
Debt, weighted average interest rate 4.00% 4.00%    
Foreign        
Defined Benefit Plan Disclosure        
Defined contribution expense $ 18.2 $ 16.4 17.1  
Pension | Forecast        
Defined Benefit Plan Disclosure        
Estimated required contributions to pension plans in next fiscal year       $ 1.0
Pension | Minimum        
Defined Benefit Plan Disclosure        
Period for amortizing actuarial losses 3 years      
Pension | Maximum        
Defined Benefit Plan Disclosure        
Period for amortizing actuarial losses 32 years      
Pension | U.S.        
Defined Benefit Plan Disclosure        
Defined benefit plan, loss due to settlement $ 0.4 0.4 0.3  
Pension | U.S. | Minimum | Return Seeking Assets        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 45.00%      
Pension | U.S. | Minimum | Risk Mitigating Assets        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 35.00%      
Pension | U.S. | Maximum | Return Seeking Assets        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 65.00%      
Pension | U.S. | Maximum | Risk Mitigating Assets        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 55.00%      
Pension | Foreign        
Defined Benefit Plan Disclosure        
Defined benefit plan, loss due to settlement $ (0.2) $ 0.0 $ 13.0  
Pension | Foreign | Minimum | Equity Securities        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 20.00%      
Pension | Foreign | Minimum | Fixed Income        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 30.00%      
Pension | Foreign | Minimum | Alternative Investments        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 0.00%      
Pension | Foreign | Minimum | Cash and Other        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 0.00%      
Pension | Foreign | Maximum | Equity Securities        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 60.00%      
Pension | Foreign | Maximum | Fixed Income        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 70.00%      
Pension | Foreign | Maximum | Alternative Investments        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 25.00%      
Pension | Foreign | Maximum | Cash and Other        
Defined Benefit Plan Disclosure        
Target percentage of asset allocation 15.00%      
Other Postretirement | Minimum        
Defined Benefit Plan Disclosure        
Period for amortizing actuarial losses 7 years      
Other Postretirement | Maximum        
Defined Benefit Plan Disclosure        
Period for amortizing actuarial losses 16 years