Other Charges, Net - Restructuring Plans (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring charges
Restructuring expenses	$ 22.3	$ 4.8	$ 8.2
Cost of revenues
Restructuring charges
Restructuring expenses	3.5	0.9	3.4
Other charges, net
Restructuring charges
Restructuring expenses	$ 18.8	$ 3.9	$ 4.8