Retirement and Deferred Compensation Plans - Schedule of Fair Value of Pension Plan Assets by Asset Category (Details) - Pension Plan [Member] - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 154.3	$ 142.2	$ 206.5
Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	596.3	547.8	$ 762.5
Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	178.5	161.8
Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	263.5	243.8
Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	154.3	142.2
Cash and cash equivalents | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	6.9	18.3
Cash and cash equivalents | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	6.9	18.3
Cash and cash equivalents | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Cash and cash equivalents | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Mutual funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	137.6	114.5
Mutual funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	137.6	114.5
Mutual funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Mutual funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Common stock | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	34.0	29.0
Common stock | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	34.0	29.0
Common stock | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Common stock | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Fixed income funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	125.6	73.7
Fixed income funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Fixed income funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	125.6	73.7
Fixed income funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Annuity contract | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	35.4	33.5
Annuity contract | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Annuity contract | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Annuity contract | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	35.4	33.5
Bonds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		38.0
Bonds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Bonds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		38.0
Bonds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets		0.0
Guaranteed insurance contracts | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	23.4	21.3
Guaranteed insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Guaranteed insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	23.4	21.3
Guaranteed insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	82.6	76.7
Insurance contracts | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Insurance contracts | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	82.6	76.7
Real estate funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	99.6	95.3
Real estate funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Real estate funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	98.2	94.0
Real estate funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	1.4	1.3
Hedge funds | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	29.1	28.7
Hedge funds | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Hedge funds | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	12.4	13.5
Hedge funds | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	16.7	15.2
Other | Non-United States Plans
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	22.1	18.8
Other | Non-United States Plans | Quoted Prices in Active Markets for Identical Assets (Level 1)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	0.0	0.0
Other | Non-United States Plans | Significant Other Observable Inputs (Level 2)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	3.9	3.3
Other | Non-United States Plans | Significant Unobservable Inputs (Level 3)
Defined Benefit Plan Disclosure [Line Items]
Fair value of plan assets	$ 18.2	$ 15.5