Income Taxes - Uncertain Tax Positions (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Uncertain tax positions:
Beginning of year	$ 23.5	$ 28.9	$ 14.0
Increases related to prior-year tax positions	2.1	1.2	3.0
Decreases related to prior-year tax positions	(2.7)	(2.9)	(0.4)
Increases related to current-year tax positions	2.4	2.3	5.2
Increases related to acquisitions	0.0	0.3	11.8
Settlements	0.0	(2.4)	(2.5)
Effect of the expiration of statutes of limitation	(2.5)	(1.9)	(1.6)
Foreign currency exchange effects	0.7	(2.0)	(0.6)
End of year	$ 23.5	$ 23.5	$ 28.9