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Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss $ (1,954.9) $ (2,152.2) $ (1,891.8) $ (1,806.2)
Net Gain (Loss) on Interest Rate Swaps Qualifying as Hedge, After Reclassification, Before Tax 1.4 1.5 1.5  
Other Comprehensive Income (Loss), Before Tax 215.5 (262.9) (81.2)  
Other Comprehensive Income (Loss), Tax (16.2) 4.3 (6.2)  
Net Gain (Loss) on Marketable Securities Held in Trust, After Reclassification and Tax 23.7 (24.8) (17.6)  
Other Comprehensive Income (Loss), Net of Tax 199.3 (258.6) (87.4)  
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Noncontrolling Interest (2.0) (1.8) 1.8  
AOCI, Accumulated Gain (Loss), Debt Securities, Available-for-sale, Parent        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss 0.2 (23.5) 1.3 18.9
Net Unrealized Holding Gain (Loss) on Marketable Securities Held in Trust, Before Tax 30.6 (32.4) (22.7)  
Net Gain (Loss) on Marketable Securities Held in Trust, Tax (6.9) 7.6 5.1  
Net Gain (Loss) on Marketable Securities Held in Trust, After Reclassification and Tax 23.7 (24.8) (17.6)  
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Noncontrolling Interest 0.0 0.0 0.0  
AOCI, Derivative Qualifying as Hedge, Excluded Component, Parent        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss 8.1 6.7 5.2 3.7
Net Gain (Loss) on Interest Rate Swaps Qualifying as Hedge, After Reclassification, Before Tax 1.8 2.0 2.0  
Other Comprehensive Income (Loss), Derivative, Excluded Component, Increase (Decrease), after Adjustments, Tax 0.4 0.5 0.5  
Net Gain (Loss) on Interest Rate Swaps Qualifying as Hedge, After Reclassification and Tax 1.4 1.5 1.5  
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Noncontrolling Interest 0.0 0.0 0.0  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (33.0) (53.1) (72.8) (109.7)
Net Actuarial Gain (Loss), After Reclassification, Before Tax 31.1 28.6 56.5  
Other Comprehensive Income (Loss), Tax (11.0) (8.9) (19.6)  
Net Actuarial Gain (Loss), After Reclassification and Tax 20.1 19.7 36.9  
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Noncontrolling Interest 0.0 0.0 0.0  
Accumulated Foreign Currency Adjustment Attributable to Parent        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Accumulated other comprehensive loss (1,930.2) (2,082.3) (1,825.5) $ (1,719.1)
Foreign Currency Translation Gain (Loss), Before Tax 152.0 (261.1) (117.0)  
Foreign Currency Translation Adjustment, Tax (Expense) Benefit 2.1 6.1 8.8  
Foreign Currency Translation Gain (Loss), Net of Tax 154.1 (255.0) (108.2)  
Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Noncontrolling Interest $ (2.0) $ (1.8) $ 1.8