Retirement and Deferred Compensation Plans - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) Insurance_contract	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Pension liability	$ 5.8	$ 2.7	$ 1.0
Deferred compensation plans, asset and liability	144.2	114.4
Statutory Plans Member [Member]
Defined Benefit Plan Disclosure [Line Items]
Total expense	29.5	31.4	$ 32.2
Retiree Health Care Plan
Defined Benefit Plan Disclosure [Line Items]
Prior service cost (credit) recognized in accumulated other comprehensive loss	0.8
Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Remaining plan assets in excess of pension liability	89.0	76.8
Accumulated benefit obligation for plan	625.1	554.1
Projected benefit obligation for plans	732.4	652.8
Accumulated benefit obligation for plans that do not have plan assets	80.9	74.9
Prior service cost (credit) recognized in accumulated other comprehensive loss	0.7
Estimated Net Gain	(1.5)
Estimated employer contribution to pension plans during next fiscal year	16.4
Pension Plan [Member] | Qualified Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Accumulated benefit obligation for plan	706.0	629.0
Postretirement Health Coverage [Member]
Defined Benefit Plan Disclosure [Line Items]
Net loss recognized in accumulated other comprehensive loss	(0.3)	(0.5)
Prior service cost (credit) recognized in accumulated other comprehensive loss	$ 1.0	$ 1.7
Discount rate used in measurement of benefit obligation (as a percent)	4.90%	5.10%
Discount rate used in measurement of net periodic benefit cost (as a percent)	5.10%	2.60%	2.20%
Health care cost trend rate assumed for next fiscal year (as a percent)	7.40%
Ultimate health care cost trend rate (as a percent)	4.40%
Foreign Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Pension liability	$ 5.8	$ 2.7	$ 1.0
Foreign Plan [Member] | Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Settlement of lump sum payments	$ 66.4	$ 57.4
Expected long-term return on plan assets	3.50%	2.20%	1.80%
Number of foreign plans using guaranteed insurance contracts | Insurance_contract	4
Net loss recognized in accumulated other comprehensive loss	$ 26.9	$ 4.6
Prior service cost (credit) recognized in accumulated other comprehensive loss	$ 5.1	$ 3.1
Discount rate used in measurement of benefit obligation (as a percent)	2.70%	3.20%
Foreign Plan [Member] | Pension Plan [Member] | Minimum [Member]
Defined Benefit Plan Disclosure [Line Items]
Expected long-term return on plan assets	2.50%
Foreign Plan [Member] | Pension Plan [Member] | Maximum [Member]
Defined Benefit Plan Disclosure [Line Items]
Expected long-term return on plan assets		5.00%
UNITED STATES | Pension Plan [Member]
Defined Benefit Plan Disclosure [Line Items]
Settlement of lump sum payments	$ 0.0	$ 0.0
Net loss recognized in accumulated other comprehensive loss	4.0	4.5
Prior service cost (credit) recognized in accumulated other comprehensive loss	$ 0.0	$ 0.0
Discount rate used in measurement of benefit obligation (as a percent)	5.20%	5.40%
Company Sponsored Plans [Member]
Defined Benefit Plan Disclosure [Line Items]
Total expense	$ 19.2	$ 18.4	$ 17.3