Non-Qualified Retirement, Savings and Investment Plans (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) plan shares	Dec. 31, 2022 USD ($) plan shares	Dec. 31, 2021 USD ($)
Retirement Benefits [Abstract]
Number of non-qualified retirement savings and investment plans | plan	2
Deferred compensation liability, current and long-term	$ 47.5	$ 37.4
Number of deferred compensation plans | plan	2	2
Increase (decrease) in compensation expense	$ 7.0	$ (5.3)	$ 6.1
Deferred compensation plan assets	41.6	32.4
Restricted investments, current	1.8
Investment gains (losses)	$ 6.6	$ (6.0)	$ 5.6
Deferred compensation arrangement with individual, shares issued (in shares) | shares	0	0