Leases - Lease Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease Cost
Operating lease costs	$ 71.6	$ 70.4	$ 67.7
Short-term lease costs	45.1	35.9	33.9
Sublease income	(3.5)	(0.2)	(5.8)
Net lease costs	113.2	106.1	95.8
Other Information
Operating cash flows from operating leases	(68.1)	(70.4)	(67.7)
Leased assets obtained in exchange for new operating lease liabilities	53.7	28.5	87.1
Leased assets obtained in exchange for new financing lease liabilities	$ 3.4	$ 0.1	$ 15.7
Weighted-average remaining lease term (years) operating leases	4 years 4 months 24 days	4 years 3 months 18 days
Weighted-average remaining lease term (years) financing leases	5 years 10 months 24 days	6 years 4 months 24 days
Weighted-average discount rate operating leases	6.10%	6.10%
Weighted-average discount rate financing leases	4.80%	3.40%