Lease Arrangements - Lease Costs (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finance lease expense
Amortization of right-of-use assets	$ 1.7	$ 3.2	$ 1.4
Interest on lease liabilities	1.0	0.3	0.3
Operating lease expense	14.8	15.2	14.7
Other lease expense	9.6	6.6	7.9
Total lease expense	$ 27.1	$ 25.3	$ 24.3