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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Statement of Stockholders' Equity [Abstract] |  |  |
Dividends per share (in usd per share) | $ 4.10 | $ 3.53 | $ 3.08
Pension and post-retirement liability changes, tax benefit | $ 3.0 | $ 7.0 | $ 1.0
Other Comprehensive Income (Loss), Cash Flow Hedge, Gain (Loss), after Reclassification, Tax | $ 4.0 | $ 0.4 | $ 2.5

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