CONSOLIDATED STATEMENTS OF EQUITY (Parenthetical) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Change in retirement obligation, tax amount	$ (2.3)	$ 6.8	$ 5.3
Tax benefit from change on derivatives designated as cash flow hedges, tax			$ 0.8
Net issuance shares of common stock (in shares)	230,812	216,946	228,567
Net issuance of shares of common stock, tax amount	$ 2.8	$ 3.1	$ 3.1
Repurchase of common stock (in shares)	124,600	795,423	0
Cash dividends declared, per common share outstanding (in dollars per share)	$ 2.56	$ 2.40	$ 2.16