Property, Plant and Equipment, Net - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Depreciation expense	$ 73.8	$ 76.2	$ 81.1
Prepaid Expenses and Other Current Assets [Member]
Property, Plant and Equipment [Line Items]
Property, plant and equipment assets, net held for sale	9.0	8.7
Accounts payable and other accrued expenses	$ 2.9	$ 5.1