Accumulated Other Comprehensive Loss - Components of Accumulated Other Comprehensive Loss, Net of Tax (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	$ 2,234.1	$ 2,458.1	$ 2,531.7	$ 2,453.6
Defined benefit pension plans, net of income benefit of $(20.4) and $(22.8), respectively
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	(36.0)	(12.2)
Retiree health care plan, net of income taxes of $1.9 and $1.6, respectively
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	1.3	1.2
Foreign currency translation
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	(261.2)	(369.7)
(Loss) gain on derivative instruments, net of income tax benefit of $(22.7) and $(5.3), respectively
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	(37.6)	53.4
Translation loss on long-term intercompany loans, net of income taxes of $19.1 and $19.9, respectively
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	(133.6)	(132.8)
Gain on interest rate swap, net of income taxe of $0.4 for 2022
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	1.1	1.4
Accumulated other comprehensive loss
Accumulated Other Comprehensive Income Loss [Line Items]
Accumulated other comprehensive loss	$ (466.0)	$ (458.7)	$ (389.4)	$ (397.3)