Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets
Pension liabilities	$ 33.5	$ 53.1
Retirement benefits other than pensions	23.8	54.6
Lease liabilities	80.9	85.4
Workers’ compensation and other claims	27.5	35.5
Property and equipment, net	54.1	35.7
Other assets and liabilities	113.3	88.2
Net operating loss carryforwards	53.4	72.8
Interest limitations and other tax carryforwards(a)	20.6	6.0
Foreign tax and other tax credits(b)	57.4	82.8
Subtotal	464.5	514.1
Valuation allowances	(77.3)	(141.5)	$ (128.1)	$ (118.3)
Total deferred tax assets	387.2	372.6
Deferred tax liabilities
Right-of-use assets, net	76.8	76.9
Goodwill and other intangibles	100.3	76.7
Other assets and miscellaneous	31.7	28.8
Deferred tax liabilities	208.8	182.4
Net deferred tax asset	178.4	190.2
Included in:
Noncurrent assets	246.2	239.4
Noncurrent liabilities	(67.8)	(49.2)
Operating Loss Carryforwards [Line Items]
Interest limitations and other tax carryforwards	20.6	$ 6.0
Foreign tax credit amount	54.0
Other tax credit amount	3.4
Tax credit carryforward valuation allowance	10.3
United States
Deferred tax assets
Net operating loss carryforwards	4.2
Interest limitations and other tax carryforwards(a)	10.8
Operating Loss Carryforwards [Line Items]
Interest limitations and other tax carryforwards	10.8
Foreign
Deferred tax assets
Net operating loss carryforwards	37.3
Interest limitations and other tax carryforwards(a)	9.8
Operating Loss Carryforwards [Line Items]
Interest limitations and other tax carryforwards	$ 9.8