Leases - Supplemental Cash Flow Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurements of lease liabilities
Operating cash flows for operating leases	$ 58.7	$ 52.5	$ 56.8
Operating cash flows for finance leases	3.3	3.6	4.5
Financing cash flows for finance leases	5.1	4.4	3.6
Supplemental non-cash information on right-of-use assets obtained in exchange for new lease liabilities
Operating leases	115.7	63.9	34.0
Finance leases	$ 1.7	$ 3.8	$ 7.5