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Accumulated Other Comprehensive Loss - Schedule of unrecognized net defined benefit and postretirement plan costs (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Unrecognized Net Defined Plan Costs |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, net losses | $ 0.6 |  | $ 1.7 |
Reclassification adjustment from AOCI on unrecognized net defined benefit and postretirement plan costs, tax |  | $ 0.5 |  | $ 1.3
Change in Fair Value of Derivatives Products |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | (24.8) |  | (26.6) |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) |  | (19.1) |  | (20.7)
Change in Fair Value of Derivatives Products | Foreign Currency Forward Exchange Contracts |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 6.2 |  | 10.5 |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) |  | 4.8 |  | 7.9
Change in Fair Value of Derivatives Products | Commodity Swap Agreements |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | 0.9 |  | (0.2) |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) |  | 0.7 |  | (0.1)
Change in Fair Value of Derivatives Products | Interest Rate Derivatives |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Reclassification adjustment from AOCI on derivatives, net gains (losses) | $ (31.9) |  | $ (36.9) |
Reclassification adjustment from AOCI on derivatives, tax expense (benefit) |  | $ (24.6) |  | $ (28.5)

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