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Income Taxes - Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
U.S. Federal statutory rate | $ 63.0 | $ 206.6 | $ 188.6
Foreign earnings subject to different tax rates | (130.7) | (152.7) | (182.4)
State and local income taxes, less federal income tax benefit | 2.5 | 5.5 | 7.6
Research and development and miscellaneous tax credits(2) | (1,154.6) | (5.7) | (8.6)
Tax on dividends, deemed dividends, and GILTI | 37.0 | 24.6 | 44.5
Changes to unrecognized tax benefits | 10.5 | 10.5 | (28.7)
Nondeductible expenses | 9.3 | 19.6 | 11.5
Change in valuation allowance | 172.5 | 71.3 | 84.7
Exchange gains and losses | (18.4) | (12.0) | (8.6)
Other | (110.4) | (22.5) | (16.1)
Total | (1,119.3) | 145.2 | 92.5
Operating Loss Carryforwards [Line Items] |  |  |
GILTI provisions | 25.5 | 17.8 | 36.2
Decrease related to deferred tax liabilities | $ 120.0 | $ 39.7 | $ 37.1

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