Accumulated Other Comprehensive Loss, Net of Tax Reclassifications from AOCI, net of tax (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Total income tax effect	$ (1.0)	$ (1.1)	$ (3.1)
Total reclassified from AOCI, net of tax	3.4	8.1	10.1
Foreign Currency Translation Adjustment
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Reclassification from AOCI, before tax	0.5	4.3	(1.0)
Derivative Instruments
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Reclassification from AOCI, before tax	(2.6)	(1.4)	4.2
Defined Benefit and Postretirement Plans
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Reclassification from AOCI, before tax	$ 6.5	$ 6.3	$ 10.0