Shareholders' Equity - Components of Accumulated Other Comprehensive Loss, Net of Tax (Details) - USD ($) $ in Millions	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023	Dec. 31, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	$ 2,187.7	$ 2,234.1	$ 2,509.4	$ 2,458.1
Defined benefit pension plans, net of income tax benefit of $(23.1) and $(23.0), respectively
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(37.3)	(36.0)
Retiree health care plan, net of income taxes of $2.0 on both dates
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	1.1	1.3
Gain on interest rate swap, net of income taxes of $0.3 on both dates
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	1.0	1.1
Foreign currency translation
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(329.5)	(261.2)
Translation loss on long-term intercompany loans, net of income taxes of $19.1 on both dates
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	(133.5)	(133.6)
Gain (loss) on derivative instruments, net of income tax benefit of $(4.8) and $(5.3), respectively
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	2.7	(37.6)
Accumulated other comprehensive loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss	$ (495.5)	$ (466.0)	$ (451.6)	$ (458.7)