Benefit Plans and Other Postretirement Benefits, Pension plans with a projected benefit obligation in excess of plan assets (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
United States
Pension Plan with Projected Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligation	$ 23.2	$ 22.9
Fair value of plan assets	9.1	8.9
Foreign Plans
Pension Plan with Projected Benefit Obligation in Excess of Plan Assets [Abstract]
Projected benefit obligation	169.3	170.7
Fair value of plan assets	$ 81.2	$ 77.9