Restructuring Charges - Restructuring Reserve and Utilization (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Rollforward]
Balance at beginning of period	$ 7.0	$ 8.0	$ 9.7
Charge taken during period	11.4	15.9	18.9
Payments made during period	(15.2)	(16.9)	(20.6)
Balance at end of period	3.2	7.0	8.0
Severance and termination
Restructuring Reserve [Rollforward]
Balance at beginning of period	4.8	4.7	2.6
Charge taken during period	10.0	14.0	18.9
Payments made during period	(12.4)	(13.9)	(16.8)
Balance at end of period	2.4	4.8	4.7
Contract termination and other exit costs
Restructuring Reserve [Rollforward]
Balance at beginning of period	2.2	3.3	7.1
Charge taken during period	1.4	1.9	0.0
Payments made during period	(2.8)	(3.0)	(3.8)
Balance at end of period	$ 0.8	$ 2.2	$ 3.3