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Shareholders' Equity - Gains and Losses, Net of Tax Reclassified from Accumulated Other Comprehensive Income (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ (8.2) | $ (3.7)
Foreign exchange contracts, net | Other (income) expense, net |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | (0.3) | 4.3
Foreign exchange contracts, net | Cost of sales |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | 0.5 | (2.4)
Interest rate contracts | Interest expense |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | (8.1) | (6.1)
Retirement plan activity | Operating expenses |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Location of Gain (Loss) Reclassified from Accumulated OCI into Income | $ (0.3) | $ 0.5

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