Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Income tax credits	$ 26.1	$ 22.8
Loss carryforwards	12.7
Valuation allowance	37.4	32.2
Undistributed earnings of foreign subsidiaries	513.0
Income taxes paid	215.0	168.0	$ 84.0
Unrecognized tax benefits that would impact effective tax rate	37.8
Unrecognized tax benefits timing of deductibility unknown	4.6
Unrecognized tax benefits, income tax penalties and interest expense	1.2	(1.0)	$ 0.3
Unrecognized tax benefits, income tax penalties and interest accrued	7.9	$ 6.7
Minimum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	5.0
Maximum
Tax Credit Carryforward [Line Items]
Decrease in unrecognized tax benefits is reasonably possible, estimated range of change	10.0
Tax credit carryforward indefinitely
Tax Credit Carryforward [Line Items]
Income tax credits	1.9
Loss carryforwards	5.2
Carryforward Subject To Expiration
Tax Credit Carryforward [Line Items]
Income tax credits	24.2
Loss carryforwards	$ 7.5