Employee Retirement Plans and Postretirement Benefits - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Pension plan contribution	$ 4.1	$ 3.6	$ 7.1
Benefits paid, including prescription drugs	31.2	33.0	33.8
Defined contribution plan, contribution during the period	76.8	73.0	$ 77.8
Pension
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation	3,000.0	$ 3,000.0
Expected future employer contributions	4.0
Expected future benefit payment, next year	233.1
OPEB
Defined Benefit Plan Disclosure [Line Items]
Expected future benefit payment, next year	$ 39.3
U.S. defined contribution plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, contributions by employer, low end of the range (as a percent)	5.00%
Defined contribution plan, contributions by employer, high end of the range (as a percent)	11.00%
U.K. and Canadian defined contribution plans
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, contributions by employer, low end of the range (as a percent)	4.00%
Defined contribution plan, contributions by employer, high end of the range (as a percent)	10.00%
UK Pension Plan | Pension
Defined Benefit Plan Disclosure [Line Items]
Statutory valuation period	3 years
Canadian Defined Benefit Pension Plans | Pension
Defined Benefit Plan Disclosure [Line Items]
Expected surplus to be used for benefit payments	$ 6.0
UK defined contribution plan
Defined Benefit Plan Disclosure [Line Items]
Defined contribution plan, contributions by employer, high end of the range (as a percent)	10.00%