Operating Leases - Supplemental Cash Flow Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash outflow from operating leases	$ 115.7	$ 110.9	$ 112.4
Leased assets obtained in exchange for new operating lease liabilities	$ 116.2	$ 89.4	$ 103.6