Employee Benefit Plans - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items]
Actuarial and other gain (loss)	$ (4.0)	$ 22.1	$ 21.4
Net actuarial gain (loss)	(7.8)	38.3
Gain related to higher-than-expected returns on plan assets	$ 3.8
Employer contribution as percentage of employee contribution	100.00%
United States
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items]
Compensation expense recognized	$ 19.9	14.7	16.7
Foreign Plan
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items]
Expected future employer contributions, next year	22.7
Compensation expense recognized	$ 22.3	$ 20.5	$ 27.2
Minimum
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items]
Percentage of employee contribution, basis for employer contribution	0.00%
Maximum
Defined Benefit Plans and Other Postretirement Benefit Plans [Line Items]
Percentage of employee contribution, basis for employer contribution	4.00%