Benefit Plans and Other Postretirement Benefits, Pension plans with an accumulated benefit obligation in excess of plan assets (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
United States
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract]
Accumulated benefit obligation	$ 23.1	$ 22.8
Fair value of plan assets	9.1	8.9
Foreign Plans
Pension Plans with Accumulated Benefit Obligations in Excess of Plan Assets [Abstract]
Accumulated benefit obligation	142.3	147.2
Fair value of plan assets	$ 57.0	$ 57.7