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Valuation and Qualifying Accounts and Reserves (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Allowance for Doubtful Accounts      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year $ 9.1 $ 10.0 $ 11.4
Additions charged to expense 1.3 0.5 0.9
Deductions (1.6) (1.5) (1.9)
Foreign exchange changes 0.5 0.1 (0.4)
Balance at end of year 9.3 9.1 10.0
Allowance for Sales Discounts and Other Credits      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 15.6 15.2 12.2
Additions charged to expense 8.1 15.7 28.9
Deductions (11.8) (13.8) (25.8)
Foreign exchange changes (0.3) (1.5) (0.1)
Balance at end of year 11.6 15.6 15.2
Allowance for Cash Discounts      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 1.9 2.4 1.9
Additions charged to expense 20.7 22.9 22.8
Deductions (20.7) (23.3) (22.2)
Foreign exchange changes 0.1 (0.1) (0.1)
Balance at end of year 2.0 1.9 2.4
Warranty Reserves      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 6.4 5.7 6.1
Additions charged to expense 3.8 5.3 2.9
Deductions (4.5) (4.3) (2.9)
Foreign exchange changes 0.3 (0.3) (0.4)
Balance at end of year 6.0 6.4 5.7
Income Tax Valuation Allowance      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 51.9 52.4 55.4
Additions charged to expense 5.4 3.2 (2.2)
Foreign exchange changes 1.9 (3.7) (0.8)
Balance at end of year $ 59.2 $ 51.9 $ 52.4