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Employee Benefit Plans - Summary of Components of Net Periodic Benefit Cost (Details) - Defined Benefit Plans - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Components of net periodic benefit cost    
Service cost $ 0.6 $ 0.5
Interest cost 1.5 1.6
Expected return on plan assets (1.9) (2.0)
Amortization of unrecognized loss 0.6 0.3
Net periodic benefit cost 0.8 0.4
Amortization of unrecognized actuarial gain, provision for income tax $ (0.1) $ (0.1)