Restructuring Activities - Summary of Statement of Operations Effects (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Contract terminations	$ 14.6	$ 0.0	$ 0.0
Restructuring charges	15.6	12.1	14.5
Total charges	64.7	21.4	31.0
Capital expenditures	0.4	9.7	8.2
Continuing Operations
Restructuring Cost and Reserve [Line Items]
Other associated costs	34.5	9.3	16.5
Restructuring charges	$ 15.6	$ 12.1	$ 14.5