Retirement Benefits - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) employee shares	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Actuarial loss (gain)			$ 9.7
Deferred pension cost (reversal of cost)			10.7
Plan assets, period increase (decrease)			1.0
Accumulated benefit obligation for all defined benefit pension plans	$ 94.6	$ 81.9
Percentage of excess gains and losses over benefit obligation or market value of assets amortized	10.00%
Costs of defined contribution plans	$ 16.8	16.1	12.8
Number of participants covering under multi employer pension plan | employee	211
Costs of bargaining unit-sponsored multi-employer plans and defined contribution plans	$ 0.9	0.8	1.0
Weighted average annual rate of increase in the per capita cost of covered health care benefits assumed	6.23%
Assumed decrease of weighted average health care cost trend rate	4.00%
Year that reaches assumed decrease of weighted average health care cost trend rate	2040
Stock held in plan assets (in shares) | shares	0
Defined Contribution Plan
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, expected contribution for next fiscal year	$ 17.3
401k
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, expected contribution for next fiscal year	13.5
Pension Benefits
Defined Benefit Plan Disclosure [Line Items]
Defined benefit plan, expected contribution for next fiscal year	3.6
Other Benefits
Defined Benefit Plan Disclosure [Line Items]
Net periodic benefit cost	(0.3)	(0.7)	1.5
Actuarial loss (gain)	(0.5)	7.3
Funded status	(17.2)	(16.4)
Defined benefit plan, expected contribution for next fiscal year	1.1
U.S. | Pension Benefits
Defined Benefit Plan Disclosure [Line Items]
Settlement (gain) loss recognized	0.0	0.0	10.5
Net periodic benefit cost	(0.4)	(0.4)	(10.4)
Actuarial loss (gain)	(0.4)	2.0
Funded status	(4.6)	(3.6)
Non-U.S. | Pension Benefits
Defined Benefit Plan Disclosure [Line Items]
Settlement (gain) loss recognized	(0.1)	0.0	0.0
Net periodic benefit cost	(1.7)	(2.1)	$ (3.8)
Actuarial loss (gain)	(6.2)	27.8
Funded status	$ (46.8)	$ (37.9)
UK | Pension Benefits
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	2.60%
Equity securities | U.S.
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	10.00%
Equity securities | UK
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	40.00%
Equity securities | UK | Minimum
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	35.00%
Equity securities | UK | Maximum
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	45.00%
Fixed income securities | U.S. | Minimum
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	90.00%
Fixed income securities | UK
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	60.00%
Fixed income securities | UK | Minimum
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	55.00%
Fixed income securities | UK | Maximum
Defined Benefit Plan Disclosure [Line Items]
Target allocation of fund assets in equities	65.00%