Leases - Other information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating cash flows from operating leases	$ 107.9	$ 106.1	$ 96.5
Operating cash flows from finance leases	14.0	10.1	9.5
Financing cash flows from finance leases	55.5	48.2	43.0
Leased assets obtained in exchange for new operating lease obligations	104.3	101.0	54.0
Leased assets obtained in exchange for new finance lease obligations	$ 92.0	$ 65.7	$ 85.9
Weighted average remaining lease term operating leases (years)	6 years 6 months	6 years 3 months 18 days	6 years 8 months 12 days
Weighted average remaining lease term finance leases (years)	4 years 8 months 12 days	4 years 8 months 12 days	4 years 9 months 18 days
Weighted average discount rate operating leases (percent)	6.80%	6.50%	6.40%
Weighted average discount rate finance leases (percent)	6.20%	5.50%	4.40%