Benefit Plans - Accumulated Benefit Obligation in Excess of Plan Assets (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
U.S. Plans
Accumulated Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligations	$ 294.0	$ 319.8
Accumulated benefit obligation	294.0	319.8
Fair value of plan assets	237.5	263.6
Accumulated benefit obligation	294.0	319.8
Non-U.S. Plans
Accumulated Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligations	105.4	96.2
Accumulated benefit obligation	86.4	81.1
Fair value of plan assets	17.0	17.3
Accumulated benefit obligation	$ 254.8	$ 237.1

Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (e)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Amount of accumulated benefit obligation for defined benefit plan with accumulated benefit obligation in excess of plan assets.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 55
-Paragraph 17
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480482/715-20-55-17

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

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Amount of plan asset for defined benefit plan with accumulated benefit obligation in excess of plan assets.

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Amount of projected benefit obligation for defined benefit pension plan with accumulated benefit obligation in excess of plan assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-3

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