Leases - Schedule of Supplemental Cash Flow Information Related to Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities
Operating cash outflows related to operating leases	$ 88.7	$ 91.5	$ 96.4
Operating cash outflows related to interest on finance leases	1.3	1.0	1.0
Financing cash outflows related to finance leases	7.8	9.6	7.7
Leased assets obtained in exchange for new operating lease liabilities	69.4	22.2	40.7
Leased assets obtained in exchange for new finance lease liabilities	$ 9.0	$ 10.1	$ 0.4