Contingencies (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) defendant	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Loss Contingencies [Line Items]
Undiscounted accrual liabilities for environmental loss contingencies	$ 16,700,000	$ 13,500,000
Asbestos and Silica Related Litigation
Loss Contingencies [Line Items]
Estimated litigation liability	126,900,000	137,900,000
Insurance recovery receivable	157,700,000	154,200,000
Asbestos related insurance recoveries	$ 0	$ 0	$ 0
Asbestos and Silica Related Litigation | Minimum
Loss Contingencies [Line Items]
Number of defendants | defendant	25