Property and Equipment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 2,633.4	$ 2,396.7
Accumulated depreciation and amortization	(1,620.1)	(1,461.4)
Property and equipment, net	1,013.3	935.3
Amortization	15.5	16.1	$ 14.5
Land
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	54.3	49.9
Buildings
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	241.0	226.2
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	291.2	271.7
Vehicles
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	805.0	755.2
Capitalized software(a)
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	269.1	237.0
DRS devices leased to customers
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	278.6	190.3
Other machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 694.2	$ 666.4