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Equity - Reclassification Out of Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Derivative instruments:                      
Restructuring and other charges (income) $ (55.0) $ (16.2) $ (10.8) $ (15.2) $ (35.8) $ (9.7) $ (14.6) $ (8.1) $ (97.2) $ (68.2) $ (28.3)
Selling, general and administrative expenses                 $ (775.2) $ (714.1) $ (729.7)
Defined Benefit Plan, Net Periodic Benefit Cost (Credit) Excluding Service Cost, Statement of Income or Comprehensive Income [Extensible Enumeration]                 Non-operating pension and postretirement charges (income) Non-operating pension and postretirement charges (income) Non-operating pension and postretirement charges (income)
Income (loss) from continuing operations before income taxes                 $ 983.9 $ 897.8 $ 731.0
Provision for income taxes                 (145.2) (92.5) (151.2)
Income (loss) from continuing operations 335.4 134.5 142.0 226.8 220.6 171.9 219.6 193.2 838.7 805.3 579.8
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Selling, general and administrative expenses                 (775.2) (714.1) (729.7)
Net income (loss) $ 280.4 $ 118.3 $ 131.2 $ 211.6 $ 184.8 $ 162.2 $ 205.0 $ 185.1 741.5 737.1 551.5
Reclassification out of Accumulated Other Comprehensive Income                      
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Net income (loss)                 (49.2) (15.0) (8.2)
Reclassification out of Accumulated Other Comprehensive Income | Derivative Instruments                      
Derivative instruments:                      
Income (loss) from continuing operations before income taxes                 (55.0) (7.2) 2.6
Provision for income taxes                 19.1 1.7 1.7
Income (loss) from continuing operations                 (35.9) (5.5) 4.3
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Total before tax                 (11.5) (12.0) (15.8)
Reclassification out of Accumulated Other Comprehensive Income | Pension and other postretirement benefits                      
Derivative instruments:                      
Provision for income taxes                 2.4 2.5 3.3
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Net income (loss)                 (9.1) (9.5) (12.5)
Reclassification out of Accumulated Other Comprehensive Income | Amortization of prior service costs                      
Derivative instruments:                      
Selling, general and administrative expenses                 (0.1) (0.2) (0.3)
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Selling, general and administrative expenses                 (0.1) (0.2) (0.3)
Reclassification out of Accumulated Other Comprehensive Income | Amortization of unrecognized net actuarial and other gains (losses)                      
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Non-operating pension and postretirement charges (income)                 (10.9) (10.8) (14.8)
Reclassification out of Accumulated Other Comprehensive Income | Recognized loss due to settlement/curtailment                      
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Non-operating pension and postretirement charges (income); Discontinued operations, net of income taxes                 (0.5) (1.0) (0.7)
Reclassification out of Accumulated Other Comprehensive Income | Foreign currency adjustments                      
Derivative instruments:                      
Restructuring and other charges (income)                 (4.2) 0.0 0.0
Reclassification out of Accumulated Other Comprehensive Income | Foreign currency contracts | Derivative Instruments                      
Derivative instruments:                      
Costs of sales and services                 (57.5) (4.7) 24.6
Selling, general and administrative expenses                 6.5 1.7 (19.3)
Pension and Other Postretirement Benefits Cost (Reversal of Cost) [Abstract]                      
Selling, general and administrative expenses                 6.5 1.7 (19.3)
Reclassification out of Accumulated Other Comprehensive Income | Interest rate contracts | Derivative Instruments                      
Derivative instruments:                      
Interest expense                 $ (4.0) $ (4.2) $ (2.7)