Pension and Other Postretirement Benefits - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Maximum percentage of employee's compensation eligible for employer matching contributions	5.00%
Additional employer annual contribution (as a percent)	5.00%
Charges for defined contribution plans	$ 19.1	$ 17.5	$ 15.6
Defined Contribution Plan, Employer Matching Contribution, Percent of Match	80.00%
UNITED STATES
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Expected return on plan assets		2.50%	2.25%
Decrease in rate of return on plan assets	2.25%
Estimated inflation rate assumptions for rate of return on plan assets	2.30%
UNITED STATES | Fixed Income Investments
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Target asset allocation	100.00%
Pensions
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]
Accumulated benefit obligation	$ 1,027.0	$ 1,036.7
Expected return on plan assets	4.75%	2.50%	2.25%