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Benefit Plans - Components of Net Periodic Benefit Cost (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Pension benefits      
Net periodic benefit cost:      
Service cost $ 1.1 $ 1.5 $ 1.6
Interest cost 2.4 4.2 6.2
Expected return on plan assets (1.2) (6.1) (11.9)
Amortization of prior service credit 0.0 0.0 0.1
Amortization of actuarial loss (gain) 0.6 1.3 1.8
Settlement loss 0.1 52.2 1.8
Other 0.3 1.0 0.0
Net periodic benefit cost 3.3 54.1 (0.4)
Other changes in plan assets and benefit obligations recognized in OCI, pre-tax:      
Net (gain) loss arising during period (1.4) 16.0 (6.3)
Prior service credit arising during period 0.0 0.0 (2.0)
Amortization of prior service credit 0.0 0.0 (0.1)
Amortization of actuarial (loss) gain (0.3) (1.3) (1.8)
Settlement loss (0.1) (52.2) (1.8)
Foreign currency translation 0.7 (2.3) (0.9)
Other 0.4 0.0 0.0
Total recognized in OCI (0.7) (39.8) (12.9)
Total recognized in net periodic benefit cost and OCI 2.6 14.3 (13.3)
Pension benefits | United States      
Net periodic benefit cost:      
Net periodic benefit cost 0.8 51.7 (2.3)
Pension benefits | International plans      
Net periodic benefit cost:      
Net periodic benefit cost 2.5 2.4 1.9
Other retirement benefits      
Net periodic benefit cost:      
Service cost 0.0 0.0 0.0
Interest cost 0.2 0.2 0.2
Expected return on plan assets 0.0 0.0 0.0
Amortization of prior service credit 0.0 0.0 (0.4)
Amortization of actuarial loss (gain) (2.0) (1.9) (1.6)
Settlement loss 0.0 0.0 0.0
Other 0.4 0.4 0.0
Net periodic benefit cost (1.4) (1.3) (1.8)
Other changes in plan assets and benefit obligations recognized in OCI, pre-tax:      
Net (gain) loss arising during period (0.5) (2.0) (0.9)
Prior service credit arising during period 0.0 0.0 0.0
Amortization of prior service credit 0.0 0.0 0.4
Amortization of actuarial (loss) gain 2.0 1.9 1.6
Settlement loss 0.0 0.0 0.0
Foreign currency translation 0.0 0.0 0.0
Other 0.0 (0.4) 0.0
Total recognized in OCI 1.5 (0.5) 1.1
Total recognized in net periodic benefit cost and OCI 0.1 (1.8) (0.7)
Other retirement benefits | United States      
Net periodic benefit cost:      
Net periodic benefit cost (1.4) (1.3) (1.8)
Other retirement benefits | International plans      
Net periodic benefit cost:      
Net periodic benefit cost $ 0.0 $ 0.0 $ 0.0