Benefit Plans - Pension and Other Postretirement Benefit Liabilities in Consolidated Balance Sheets (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Total Pension and Other Postretirement Benefit Liabilities Included in Balance Sheets [Abstract]
Other assets	$ 18.8	$ 17.8
Accrued liabilities	(6.2)	(9.1)
Pension and other postretirement benefits	$ (144.6)	$ (137.0)