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Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension Plan [Member] - USD ($) $ in Millions | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | ---
Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 142.2 | $ 206.5 | $ 242.6
Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 547.8 | 762.5 | $ 753.6
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 161.8 | 198.0 |
Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 243.8 | 358.0 |
Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 142.2 | 206.5 |
Cash and cash equivalents | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 18.3 | 18.8 |
Cash and cash equivalents | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 18.3 | 18.8 |
Cash and cash equivalents | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Cash and cash equivalents | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Mutual funds | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 114.5 | 141.5 |
Mutual funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 114.5 | 141.5 |
Mutual funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Mutual funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Common stock | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 29.0 | 37.7 |
Common stock | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 29.0 | 37.7 |
Common stock | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Common stock | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Fixed income funds | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 73.7 | 175.0 |
Fixed income funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Fixed income funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 73.7 | 175.0 |
Fixed income funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Annuity contract | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 33.5 | 51.7 |
Annuity contract | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Annuity contract | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Annuity contract | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 33.5 | 51.7 |
Bonds | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 38.0 | 44.9 |
Bonds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Bonds | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 38.0 | 44.9 |
Bonds | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Guaranteed insurance contracts | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 21.3 | 21.3 |
Guaranteed insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Guaranteed insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 21.3 | 21.3 |
Guaranteed insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Insurance contracts | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 76.7 | 129.6 |
Insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 76.7 | 129.6 |
Real estate funds | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 95.3 | 102.1 |
Real estate funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Real estate funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 94.0 | 100.8 |
Real estate funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 1.3 | 1.3 |
Hedge funds | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 28.7 | 29.2 |
Hedge funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Hedge funds | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 13.5 | 12.6 |
Hedge funds | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 15.2 | 16.6 |
Other | Non-United States Plans |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 18.8 | 10.7 |
Other | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 0.0 |  |
Other | Non-United States Plans | Significant Other Observable Inputs (Level 2) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | 3.3 | 3.4 |
Other | Non-United States Plans | Significant Unobservable Inputs (Level 3) |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Fair value of plan assets | $ 15.5 | $ 7.3 |

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