Benefit Plans and Other Postretirement Benefits, Amount Included in Accumulated Other Comprehensive Loss Not Yet Recognized as Expense (Details) - Pension Benefits - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Accumulated other comprehensive income (loss), before tax
Actuarial losses, net	$ 146.7	$ 147.3
Prior service cost	5.3	7.0
United States
Accumulated other comprehensive income (loss), before tax
Actuarial losses, net	131.0	136.3
Prior service cost	4.8	6.5
Foreign Plans
Accumulated other comprehensive income (loss), before tax
Actuarial losses, net	15.7	11.0
Prior service cost	$ 0.5	$ 0.5