Restructuring Charges - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 98.0	$ 20.2	$ 42.9
2023 Transformation Plan
Restructuring Cost and Reserve [Line Items]
Restructuring charges	68.6
2023 Transformation Plan | Employee Severance, Asset Impairment, and Contract Termination
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 31.9