Leases - Components of Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating lease expense	$ 72.5	$ 73.2	$ 71.4
Finance lease expense	9.5	10.4	11.5
Total lease expense	$ 82.0	$ 83.6	$ 82.9