Goodwill and Other Intangible Assets - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Goodwill [Line Items]
Goodwill impairment	$ 0	$ 0	$ 0
Amortization of intangible assets	367,500,000	347,600,000	332,900,000
Anticipated amortization of intangible assets in 2024	370,000,000
Anticipated amortization of intangible assets in 2025	290,000,000
Anticipated amortization of intangible assets in 2026	230,000,000
Anticipated amortization of intangible assets in 2027	230,000,000
Anticipated amortization of intangible assets in 2028	200,000,000
Tradenames
Goodwill [Line Items]
Impairment of indefinite-lived intangible assets	0	0	$ 0
Industrial Technologies and Services
Goodwill [Line Items]
Accumulated impairment loss of goodwill	$ 220,600,000	$ 220,600,000