Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Discrete tax benefit foreign	$ 3.2
Tax effect of non-deductible legal reserves	8.2
Tax cuts and jobs act of 2017 change in net operating losses and valuation allowance	48.0	$ 22.9	$ 2.5
Recognized tax benefit			1.6
Deferred tax assets, valuation allowance	130.8	174.1
Tax cuts and jobs act, unremitted earnings of non-United States subsidiaries	175.7
Tax cuts and jobs act, additional unremitted earnings of non-United States subsidiaries	397.4	478.1
Federal income tax at statutory rate	9.3	(25.2)	3.6
Interest expense carryforwards	$ 43.2	26.8
Percentage of tax adjustable	30.00%
Change to gross unrecognized tax (expense) benefits including interest and penalties	$ 0.2	(11.0)	(2.1)
Uncertain tax liabilities interest and penalties	0.2	(1.7)	(0.4)
Uncertain tax liabilities interest and penalties	9.1	9.1	18.4	$ 20.1
Uncertain tax liabilities interest and penalties accrued	1.4	1.2	2.9
Unrecognized tax benefits due to the closing of statues of limitations	0.2	2.0	1.4
Unrecognized tax benefits that would impact effective tax rate	4.5	4.7	14.0
Coronavirus aid relief and economic security act
Operating Loss Carryforwards [Line Items]
Uncertain tax liabilities interest and penalties		12.1
Interest on uncertain tax position		1.2
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	96.4	96.8
Federal income tax at statutory rate			1.9
Operating loss carryforwards with specific expiration period	14.1	13.5
Operating loss carryforwards without time restrictions for future use	$ 82.3	$ 83.3
Operating loss carryforwards expiration period	2036	2036
Maximum annual utilization percentage of indefinite lived loss carryforwards	80.00%
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 616.1	$ 651.9
Operating loss carryforwards expiration period	2043
Non-U.S. Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 212.4	263.5
Net operating loss carryforwards, valuation allowance	48.8	163.7
Ministry of Foreign Countries
Operating Loss Carryforwards [Line Items]
Change in valuation allowance, deferred tax asset			(7.2)
Deferred tax assets, valuation allowance	$ 19.0	$ 1.2	2.7
Increase in deferred tax assets, valuation allowance			$ 7.2