Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards
Operating loss carryforwards, domestic	$ 36.3
Operating loss carryforwards, state and local	174.7
Operating loss carryforwards, foreign	205.4
Tax credit carryforwards	9.3
Carryforwards expiring in 2023	14.2
Tax credit carryforwards expiring between 2024 and 2040	165.1
Increase (decrease) in valuation allowance	6.1	$ (20.7)
Income taxes on gain from sale of business			$ 2.0
Undistributed earnings of foreign subsidiaries	286.6
Unrecognized tax benefit	2.2	4.5	7.1	$ 13.6
Net unrecognized tax benefits		4.0	6.4
Gross accrued interest	1.3	1.9	2.6
Net accrued interest		1.7	2.2
Gross interest income included in income tax (provision) benefit	0.2	0.6	1.0
Penalties excluded	0.0	0.0	0.0
Income tax expense (benefit)	(41.6)	(7.3)	(10.9)
Effective income tax rate reconciliation, change in deferred tax assets valuation allowance, amount	2.3	4.7
Effective income tax rate reconciliation tax expense benefit uncertain tax position amount	1.1	3.0
Excess tax benefits from stock-based compensation awards vested during the year	1.8	1.7
Income tax benefits related to various valuation allowance adjustments, primarily due to foreign tax credits for which the future realization is considered likely			4.3
Excess tax benefit, revaluation of deferred tax liabilities			3.5
Expense associated with global, intangible low-taxed income			13.2
Uncertain tax positions and interest with various refund claims period			$ 2.2
Disposed of by Sale | Asbestos Portfolio Sale
Operating Loss Carryforwards
Income tax expense (benefit)		$ 1.1
Maximum
Operating Loss Carryforwards
Uncertain tax positions and interest with various refund claims period	$ 1.0