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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Feb. 06, 2024 | Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | 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, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Feb. 10, 2022
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Unrealized currency translation gains |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 18.2 | $ 57.9 | $ (98.6) |
Defined benefit pension plan settlement charges |  |  |  |  |  |  |  |  |  | $ 109.8 |  |  |  |  |  | 109.8 |
Cash dividends paid |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 346.1 | $ 361.6 | $ 380.5 |
Common stock dividends (USD per share) |  | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.235 | $ 0.94 | $ 0.94 | $ 0.94 |
Stock repurchased and retired, publicly announced authorizations (shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 24,300,000 | 22,300,000 | 19,500,000 |
Stock repurchased and retired, publicly announced authorizations, value excluding commissions |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 300.0 | $ 351.8 | $ 400.0 |
Stock repurchased and retired, publicly announced authorizations, average cost per share excluding commissions (USD per share) |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 12.35 | $ 15.81 | $ 20.56 |
Stock repurchase program expiration date |  |  |  |  |  |  |  |  |  |  |  |  |  | Dec. 31, 2021 |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock dividends (USD per share) | $ 0.235 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends payable, date declared | Feb. 06, 2024 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividends payable, date to be paid | Mar. 29, 2024 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Authorized through December 31, 2024 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchases authorized amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000.0
Remaining amount available under share repurchase authorization |  | $ 348.2 |  |  |  |  |  |  |  |  |  |  |  | $ 348.2 |  |  |
Business Solutions | Asset Held for Sale, Not Discontinued Operations |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Unrealized currency translation gains |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 17.8 |  |

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