Share Plans - Performance Stock units (Details) - Performance Shares - USD ($) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Expense, Tax Benefit	$ 0.9	$ 0.3	$ 0.1
Number of shares
Beginning balance (in shares)	0.4
Granted (in shares)	0.2
Vested (in shares)	(0.2)
Ending Balance (in shares)	0.4	0.4
Weighted average grant date fair value
Beginning balance (USD per share)	$ 55.45
Granted (USD per share)	46.34
Vested (USD per share)	45.33
Ending balance (USD per share)	$ 54.06	$ 55.45