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Pension and Other Postretirement Benefits - Components of Defined Benefit Plan (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Change in plan assets      
Company contributions $ 5.3 $ 4.6  
Amount recognized in the consolidated balance sheets:      
Pension asset 50.4 69.5  
Decrease in defined benefit obligation 3.0 10.0  
Pensions      
Change in projected benefit obligation      
Projected benefit obligation at January 1 1,450.3 1,379.1  
Service cost 4.7 4.4 $ 4.2
Interest cost 24.5 36.7 47.6
Actuarial loss (gain) (38.6) 115.5  
Foreign currency exchange rate changes and other (0.5) 0.0  
Plan participants’ contributions 0.0 0.0  
Settlements (2.5) (1.5)  
Benefits paid (83.9) (83.9)  
Projected benefit obligation at December 31 1,354.0 1,450.3 1,379.1
Change in plan assets      
Fair value of plan assets at January 1 1,484.6 1,390.6  
Actual return on plan assets (26.2) 176.5  
Foreign currency exchange rate changes (0.3) 0.0  
Company contributions 3.8 2.9  
Plan participants’ contributions 0.0 0.0  
Settlements (6.0) (1.5)  
Benefits paid (83.9) (83.9)  
Fair value of plan assets at December 31 1,372.0 1,484.6 1,390.6
Funded Status      
Net funded status of the plan (liability) 18.0 34.3  
Amount recognized in the consolidated balance sheets:      
Pension asset 50.4 69.5  
Accrued benefit liability (32.4) (35.2)  
Total 18.0 34.3  
Pensions | Non-U.S.      
Change in plan assets      
Company contributions 0.2 0.5  
Pension Plan, With Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) 50.4 69.5  
Pension Plan, With Assets | Non-U.S.      
Funded Status      
Net funded status of the plan (liability) (2.8) (3.0)  
Pension Plan, Without Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) (22.1) (23.9)  
Other Benefits      
Change in projected benefit obligation      
Projected benefit obligation at January 1 15.3 15.8  
Service cost 0.0 0.0 0.0
Interest cost 0.3 0.4 0.6
Actuarial loss (gain) (0.6) 0.3  
Foreign currency exchange rate changes and other 0.0 0.0  
Plan participants’ contributions 0.4 0.5  
Settlements 0.0 0.0  
Benefits paid (1.7) (1.7)  
Projected benefit obligation at December 31 13.7 15.3 15.8
Change in plan assets      
Fair value of plan assets at January 1 0.0 0.0  
Actual return on plan assets 0.0 0.0  
Foreign currency exchange rate changes 0.0 0.0  
Company contributions 1.3 1.2  
Plan participants’ contributions 0.4 0.5  
Settlements 0.0 0.0  
Benefits paid (1.7) (1.7)  
Fair value of plan assets at December 31 0.0 0.0 $ 0.0
Funded Status      
Net funded status of the plan (liability) (13.7) (15.3)  
Amount recognized in the consolidated balance sheets:      
Pension asset 0.0 0.0  
Accrued benefit liability (13.7) (15.3)  
Total (13.7) (15.3)  
Other Benefits, With Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) 0.0 0.0  
Other Benefits, With Assets | Non-U.S.      
Funded Status      
Net funded status of the plan (liability) 0.0 0.0  
Other Benefits, Without Assets | UNITED STATES      
Funded Status      
Net funded status of the plan (liability) (13.7) (15.3)  
All Other Pension Plans      
Funded Status      
Net funded status of the plan (liability) (7.5) (8.3)  
All Other Postretirement Benefit Plans      
Funded Status      
Net funded status of the plan (liability) $ 0.0 $ 0.0