Share-Based Compensation - Schedule of Compensation Cost for Stock Options (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total expense before income taxes	$ 21.8	$ 21.6	$ 20.4
Stock Option
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total expense before income taxes	9.9	9.2	8.5
Income tax benefit	(1.0)	(0.8)	(0.8)
Total expense after income taxes	8.9	8.4	7.7
Stock Option | Cost of sales
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total expense before income taxes	0.6	0.5	0.5
Stock Option | Selling, general and administrative expenses(1)
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total expense before income taxes	9.3	$ 8.7	$ 8.0
Stock Option | Selling, general and administrative expenses(1) | Accelerated Stock Retiree Eligibility
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Share-based payment arrangement, increase (decrease) In noncash expense due to executive forfeitures	0.5
Share-based payment arrangement, increase (decrease) in noncash expense	$ 0.4