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Guarantees - Summary of Warranty Activity (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Warranty activity      
Balance at beginning of period $ 60.2 $ 63.2 $ 60.6
Adjustments to accruals for warranties 27.3 30.4 33.9
Settlements made (in cash or in kind) during the period (27.8) (31.3) (33.6)
Currency translation (1.7) (2.1) 2.3
Balance at end of period $ 58.0 $ 60.2 $ 63.2