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Other Comprehensive Income - Components of Accumulated Comprehensive Loss (Details) - USD ($)
$ in Millions
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Accumulated other comprehensive loss, net of tax $ 1,149.0 $ 1,159.3 $ 1,179.3 $ 694.5 $ 701.4 $ 682.2
Accumulated other comprehensive loss, net of tax            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Accumulated other comprehensive loss, net of tax (73.4) $ (87.9) (95.4) $ (96.5) $ (88.3) $ (119.0)
Accumulated pension and OPEB liability adjustments, net of income tax benefit of $1.8 million and $2.5 million at June 30, 2023 and December 31, 2022, respectively            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Accumulated other comprehensive loss, tax benefit 1.8   2.5      
Accumulated other comprehensive loss, net of tax (10.4)   (10.9)      
Accumulated unrealized gain on derivative instruments, net of income tax benefit of $14.0 million and $12.9 million at June 30, 2023 and December 31, 2022, respectively            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Accumulated other comprehensive loss, tax benefit (14.0)   (12.9)      
Accumulated other comprehensive loss, net of tax 44.3   44.4      
Accumulated unrealized foreign currency translation adjustments, net of income tax benefit of $15.6 million and $17.0 million at June 30, 2023 and December 31, 2022, respectively            
Accumulated Other Comprehensive Income (Loss) [Line Items]            
Accumulated other comprehensive loss, tax benefit 15.6   17.0      
Accumulated other comprehensive loss, net of tax $ (107.3)   $ (128.9)