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Retirement Plans - Allocation of Plan Assets, Pension Plan (Details) - Pension Plan - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets $ 199.5 $ 193.5 $ 273.1
Fair Value, Inputs, Level 1      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 0.1 0.0  
Fair Value, Inputs, Level 2      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 20.3 18.5  
Cash and Cash Equivalents      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 3.0 2.8  
Cash and Cash Equivalents | Fair Value, Inputs, Level 1      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 0.1 0.0  
Cash and Cash Equivalents | Fair Value, Inputs, Level 2      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 2.9 2.8  
Fixed Income      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 17.4 15.7  
Fixed Income | Fair Value, Inputs, Level 1      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 0.0 0.0  
Fixed Income | Fair Value, Inputs, Level 2      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 17.4 15.7  
Assets Measured at NAV      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 179.1 175.0  
Assets Measured at NAV | Fair Value, Inputs, Level 1      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets 0.0 0.0  
Assets Measured at NAV | Fair Value, Inputs, Level 2      
Defined Benefit Plan Disclosure [Line Items]      
Fair value of the company's benefit plan assets $ 0.0 $ 0.0