Income Taxes - Schedule of Income from Continuing Operations Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income from continuing operations before income taxes by geographic region
U.S.	$ 1,119.9	$ 1,474.5	$ 1,242.6
Non-U.S.	299.6	384.7	365.1
Income from continuing operations before income taxes	$ 1,419.5	$ 1,859.2	$ 1,607.7