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Retirement Plans (Details)
$ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
plan
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Defined Benefit Plan Disclosure [Line Items]      
Contributory defined benefit pension plans | plan 5    
United States Retirement Plans of US Entity, Defined Contribution [Member]      
Defined Benefit Plan Disclosure [Line Items]      
Defined contribution plan, cost recognized $ 52.1 $ 50.1 $ 42.7
Foreign Retirement Plans, Defined Contribution [Member]      
Defined Benefit Plan Disclosure [Line Items]      
Defined contribution plan, cost recognized 46.9 43.2 $ 42.4
Foreign Plan [Member]      
Defined Benefit Plan Disclosure [Line Items]      
Projected benefit obligations, benefit obligation, end of year 277.4 257.1  
Defined Benefit Plan, Plan Assets, Amount 315.3 287.1  
Defined Benefit Plan, Funded (Unfunded) Status of Plan 37.9 30.0  
Change in plan assets:      
Defined Benefit Plan, Accumulated Benefit Obligation 277.4 257.1  
Foreign Plan [Member]      
Defined Benefit Plan, Amounts for Asset (Liability) Recognized in Statement of Financial Position [Abstract]      
Assets for Plan Benefits, Defined Benefit Plan 41.8 31.3  
Liability, Defined Benefit Plan (3.9) (1.3)  
Defined Benefit Plan, Accumulated Other Comprehensive (Income) Loss, before Tax $ 100.4 $ 97.6