Leases - Components of Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finance lease cost:
Amortization of finance lease assets	$ 1.4	$ 1.5	$ 1.5
Interest on lease liabilities	0.8	0.9	1.0
Total finance lease cost	2.2	2.4	2.5
Operating lease cost	87.7	81.4	77.0
Short-term lease cost	24.6	27.0	22.7
Variable lease cost	21.7	17.2	19.4
Total lease cost	$ 136.2	$ 128.0	$ 121.6