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Benefit Plans - Fair Values of Pension Plan Assets by Asset Category (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets $ 460.0 $ 682.4  
Total contribution to defined contribution plans 46.6 40.6 $ 35.9
Cash and cash equivalents      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 3.2 12.7  
Equity funds      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 90.7 181.8  
U.S. small-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 3.8 6.3  
U.S. large-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 22.4 37.0  
International equity      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 64.5 138.5  
Fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 322.7 403.4  
Corporate bonds - international      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 52.2 34.9  
UK index-linked gilts      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 41.6 35.9  
U.S. fixed income - government securities      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 33.1 38.0  
U.S. fixed income - short duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 1.8 5.2  
U.S. fixed income - intermediate duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 50.3 41.1  
U.S. fixed income - long corporate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 135.7 234.8  
Global fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 8.0 13.5  
International real estate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 16.6 49.5  
Other      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 26.8 35.0  
Investments Measured at NAV      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 286.3 446.8  
Investments Measured at NAV | Cash and cash equivalents      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Investments Measured at NAV | Equity funds      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 49.8 103.6  
Investments Measured at NAV | U.S. small-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 3.8 6.3  
Investments Measured at NAV | U.S. large-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 18.5 29.0  
Investments Measured at NAV | International equity      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 27.5 68.3  
Investments Measured at NAV | Fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 236.5 342.2  
Investments Measured at NAV | Corporate bonds - international      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 7.6 9.6  
Investments Measured at NAV | UK index-linked gilts      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Investments Measured at NAV | U.S. fixed income - government securities      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 33.1 38.0  
Investments Measured at NAV | U.S. fixed income - short duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 1.8 5.2  
Investments Measured at NAV | U.S. fixed income - intermediate duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 50.3 41.1  
Investments Measured at NAV | U.S. fixed income - long corporate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 135.7 234.8  
Investments Measured at NAV | Global fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 8.0 13.5  
Investments Measured at NAV | International real estate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Investments Measured at NAV | Other      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 1.0  
Quoted Prices in Active Markets for Identical Assets (Level 1)      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 23.3 37.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Cash and cash equivalents      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 3.2 12.7  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Equity funds      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 20.1 24.3  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. small-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. large-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | International equity      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 20.1 24.3  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Corporate bonds - international      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | UK index-linked gilts      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. fixed income - government securities      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. fixed income - short duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. fixed income - intermediate duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. fixed income - long corporate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Global fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | International real estate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Quoted Prices in Active Markets for Identical Assets (Level 1) | Other      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets  
Significant Observable Inputs (Level 2)      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 123.6 164.6  
Significant Observable Inputs (Level 2) | Cash and cash equivalents      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | Equity funds      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 20.8 53.9  
Significant Observable Inputs (Level 2) | U.S. small-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | U.S. large-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 3.9 8.0  
Significant Observable Inputs (Level 2) | International equity      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 16.9 45.9  
Significant Observable Inputs (Level 2) | Fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 86.2 61.2  
Significant Observable Inputs (Level 2) | Corporate bonds - international      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 44.6 25.3  
Significant Observable Inputs (Level 2) | UK index-linked gilts      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 41.6 35.9  
Significant Observable Inputs (Level 2) | U.S. fixed income - government securities      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | U.S. fixed income - short duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | U.S. fixed income - intermediate duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | U.S. fixed income - long corporate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | Global fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Observable Inputs (Level 2) | International real estate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 16.6 49.5  
Significant Observable Inputs (Level 2) | Other      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3)      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 26.8 34.0  
Significant Unobservable Inputs (Level 3) | Cash and cash equivalents      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Equity funds      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. small-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. large-cap      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | International equity      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Corporate bonds - international      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | UK index-linked gilts      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. fixed income - government securities      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. fixed income - short duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. fixed income - intermediate duration      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | U.S. fixed income - long corporate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Global fixed income      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | International real estate      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets 0.0 0.0  
Significant Unobservable Inputs (Level 3) | Other      
Defined Benefit Plan, Funded (Unfunded) Status of Plan [Abstract]      
Fair value of plan assets $ 26.8 $ 34.0