Property and Equipment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 2,396.7	$ 2,287.3
Accumulated depreciation and amortization	(1,461.4)	(1,421.7)
Property and equipment, net	935.3	865.6
Amortization	16.1	14.5	$ 14.7
Land
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	49.9	50.4
Buildings
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	226.2	224.6
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	271.7	271.4
Vehicles
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	755.2	712.7
Capitalized software(a)
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	237.0	233.2
DRS devices leased to customers
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	190.3	170.7
Other machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 666.4	$ 624.3