Software and Other Intangible Assets - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Other intangible assets amortization expense	$ 33.8	$ 35.5	$ 37.0
Software for internal use
Finite-Lived Intangible Assets [Line Items]
Software amortization expense	$ 64.8	68.0	69.3
Software for Resale
Finite-Lived Intangible Assets [Line Items]
Software amortization expense		$ 0.7	$ 6.2