Commitments and Contingencies - Schedule of Changes in Environmental Contingencies (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accrual for Environmental Loss Contingencies [Roll Forward]
Beginning balance	$ 17.7	$ 16.8	$ 18.7
Additional accruals	1.2	3.2	0.1
Less: expenditures	(1.9)	(2.3)	(2.0)
Ending balance	$ 17.0	$ 17.7	$ 16.8
Environmental Loss Contingency, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent