Consolidated Statements of Shareholders' Equity (Parenthetical) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Pension and postretirement liability adjustment, tax	$ 2.0	$ 1.9	$ 2.3
Dividend per share (in dollars per shares)	$ 1.30	$ 1.23	$ 1.19