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Revenue Recognition - Reconciliation of Short Term Sales Program Incentives (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Sales Incentives, Current [Roll Forward]        
Beginning Balance $ 32.3 $ 33.4 $ 23.3 $ 26.2
Additions 11.7 4.3 27.6 18.9
Credits issued (7.1) (11.9) (13.3) (18.3)
Other/foreign currency translation (1.7) 0.0 (2.4) (1.0)
Ending Balance $ 35.2 $ 25.8 $ 35.2 $ 25.8