Income Tax - Narrative (Details) - USD ($) $ in Millions	3 Months Ended				12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Goodwill impairment					$ 0.0	$ 845.0	$ 0.0
Effect of unrecognized tax benefits			$ 73.0		$ (9.5)	$ (12.8)	$ 76.3
Additional discrete tax expense				$ 18.0
Statutory federal income tax rate					21.00%	21.00%	21.00%
Undistributed earnings of foreign subsidiaries	$ 34.0				$ 44.1	$ 34.0
Remaining unrecognized tax benefits	5.4				5.0	5.4
Unrecognized tax benefits, income tax penalties and interest	(5.9)	$ 1.4			0.2	(5.9)	$ 1.4
Significant change in unrecognized tax benefit					40.9
Reduction in unrecognized tax benefits			$ 250.0
Decrease resulting from settlements with taxing authorities		$ 125.0			0.0	3.7	$ 161.8
Domestic | General business tax credit carryforward
Income Tax Contingency [Line Items]
Capital loss carryforwards, tax effect					69.5
Operating loss carryforwards, not subject to expiration					10.0
Foreign | General business tax credit carryforward
Income Tax Contingency [Line Items]
Capital loss carryforwards, tax effect					219.1
Operating loss carryforwards, not subject to expiration					$ 43.0
Canada
Income Tax Contingency [Line Items]
Statutory federal income tax rate					26.00%
Minimum
Income Tax Contingency [Line Items]
Statutes of limitations, term					3 years
Minimum | Europe
Income Tax Contingency [Line Items]
Statutory federal income tax rate					900.00%
Maximum
Income Tax Contingency [Line Items]
Statutes of limitations, term					7 years
Maximum | Europe
Income Tax Contingency [Line Items]
Statutory federal income tax rate					25.80%
Americas
Income Tax Contingency [Line Items]
Goodwill impairment	$ 845.0				$ 0.0	$ 845.0