Income Taxes - Schedule of Income Taxes Relating to Income from Continuing Operations (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current:
Federal	$ 131.0	$ 200.6	$ 115.7
State and local	53.4	71.6	48.1
Non-U.S.	74.7	76.6	67.7
Total current	259.1	348.8	231.5
Deferred:
Federal	85.5	98.8	129.9
State and local	10.0	17.1	33.9
Non-U.S.	6.3	8.3	21.0
Total deferred	101.8	124.2	184.8
Income taxes	$ 360.9	$ 473.0	$ 416.3