Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating lease cost	$ 97.4	$ 91.4	$ 82.2
Cash payments for operating leases	95.2	86.9	81.7
Right-of-use assets obtained in exchange for operating lease obligations	$ 74.7	$ 52.4	$ 46.8
Weighted average remaining lease term - operating leases	5 years 9 months 18 days	6 years 7 months 6 days
Weighted average discount rate - operating leases	4.30%	3.80%
Maturities of operating lease liabilities
2024	$ 64.9
2025	52.1
2026	39.1
2027	29.6
2028	22.6
Thereafter	65.1
Total operating lease payments	273.4
Less: imputed interest	(38.3)
Total operating lease liabilities	235.1
Maximum
Finance right-of-use assets	1.0
Finance right-of-use obligations	$ 1.0