Organization and Summary of Significant Accounting Policies - Adoption of ASC 842 (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Summary Of Significant Accounting Policies [Line Items]
After-tax cumulative effect adjustment to retained earnings after adoption of Topic 842	$ 4,174.8	$ 4,095.0	$ 3,326.1	$ 2,811.6
Retained Earnings
Summary Of Significant Accounting Policies [Line Items]
After-tax cumulative effect adjustment to retained earnings after adoption of Topic 842	4,483.3	4,196.6	$ 3,151.3	$ 2,675.8
Cumulative Effect, Period of Adoption, Adjustment
Summary Of Significant Accounting Policies [Line Items]
After-tax cumulative effect adjustment to retained earnings after adoption of Topic 842		(121.6)
Cumulative Effect, Period of Adoption, Adjustment | Retained Earnings
Summary Of Significant Accounting Policies [Line Items]
After-tax cumulative effect adjustment to retained earnings after adoption of Topic 842		$ (121.6)
Cumulative Effect, Period of Adoption, Adjustment | PTL | Retained Earnings
Summary Of Significant Accounting Policies [Line Items]
After-tax cumulative effect adjustment to retained earnings after adoption of Topic 842	$ 121.6
PTL
Summary Of Significant Accounting Policies [Line Items]
Penske transportation solutions, ownership percentage	28.90%