Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Accounts receivable, allowances	$ 14.8	$ 16.0
Common stock, shares authorized (in shares)	3,200,000,000	3,200,000,000
Common stock, shares, issued (in shares)	949,781,000	950,632,000