Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss), Net of Tax [Abstract]
Cumulative foreign currency translation	$ (350.9)	$ (345.7)
Unrecognized pension costs (net of tax benefit of $8.9 in 2023 and $9.9 in 2022)	(28.8)	(34.4)
Unrealized gain on cash flow hedges (net of tax (benefit) expense of $(1.2) in 2023 and $2.8 in 2022)	10.3	13.6
Total accumulated other comprehensive income (loss)	(369.4)	(366.5)
Unrecognized pension costs, tax benefit	8.9	9.9
Unrealized gain on cash flow hedges, tax (benefit) expense	(1.2)	2.8
Foreign currency translation adjustment [Abstract]
Foreign currency translation adjustment, pre-tax amount	(6.1)	(78.9)	$ (78.9)
Foreign currency translation adjustment, tax (expense) benefit	0.0	0.0	0.0
Foreign currency translation adjustments, net-of-tax amount	(6.1)	(78.9)	(78.9)
Pension plans [Abstract]
Net actuarial gains (losses) and prior service costs arising during the period, pre-tax amount	5.1	41.4	49.3
Net actuarial gains (losses) and prior service costs arising during the period, tax (expense) benefit	(1.4)	(9.8)	(12.5)
Net actuarial gains (losses) and prior service costs arising during the period, net-of-tax amount	3.7	31.6	36.8
Amortization of net actuarial (gains) losses and prior service costs, pre-tax amount	2.5	4.9	11.3
Amortization of net actuarial (gains) losses and prior service costs, tax (expense) benefit	(0.6)	(1.2)	(2.9)
Amortization of net actuarial (gains) losses and prior service costs, net-of-tax amount	1.9	3.7	8.4
Unrealized gains (losses) on cash flow hedges [Abstract]
Unrealized gains (losses) on cash flow hedges, pre-tax amount	(4.5)	10.6	11.4
Unrealized gains (losses) on cash flow hedges, tax (expense) benefit	1.2	(2.8)	(3.0)
Unrealized gains (losses) on cash flow hedges, net-of-tax amount	(3.3)	7.8	8.4
Total other comprehensive income (loss), pre-tax amount	(3.0)	(22.0)	(6.9)
Total other comprehensive income (loss), tax	(0.8)	(13.8)	(18.4)
Total other comprehensive loss, net of tax	$ (3.8)	$ (35.8)	$ (25.3)