Leases, Operating lease maturity table and account balances (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Leases
2024	$ 99.8
2025	72.7
2026	53.3
2027	36.9
2028	22.8
Thereafter	46.7
Total future minimum lease payments	332.2
Less imputed interest	(28.5)
Total operating lease liabilities	303.7	$ 293.7
Operating lease right-of-use assets (included in other long-term assets)	$ 301.5	$ 289.5
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Other Assets, Noncurrent	Other Assets, Noncurrent
Other accrued expenses	$ 91.6	$ 85.2
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Other Liabilities, Current	Other Liabilities, Current
Other long-term liabilities	$ 212.1	$ 208.5
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other Liabilities, Noncurrent	Other Liabilities, Noncurrent
Operating Lease, Liability, Statement of Financial Position [Extensible List]	Other Liabilities, Current, Other Liabilities, Noncurrent	Other Liabilities, Current, Other Liabilities, Noncurrent