Leases - Cash flow information, weighted average remaining term and discount rate (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows from operating leases	$ 258.1	$ 248.5	$ 249.6
Right-of-use assets modified or obtained in exchange for operating lease liabilities, net	$ 30.4	$ 116.2	$ 124.2
Weighted-average remaining lease term - operating leases	24 years	25 years
Weighted-average discount rate - operating leases	6.70%	6.50%