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Leases - Balance sheet by asset category (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Lessee, Lease, Description [Line Items] |  |  |
Operating lease ROU Asset | $ 50.2 | $ 43.3 |
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] | Other Assets, Noncurrent | Other Assets, Noncurrent |
Property, plant and equipment, gross | $ 677.2 | $ 595.6 |
Less: Accumulated depreciation | (429.0) | (398.8) |
Property, plant and equipment, net | 248.2 | 196.8 | $ 200.7
Finance Leased Asset |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Less: Accumulated depreciation | (7.1) | (6.1) |
Property, plant and equipment, net | 2.4 | 4.6 |
Finance Leased Real Estate |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Property, plant and equipment, gross | 9.4 | 10.6 |
Finance Leased Machinery and Equipment |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Property, plant and equipment, gross | 0.1 | 0.1 |
Real Estate |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Operating lease ROU Asset | 45.9 | 40.0 |
Automobile |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Operating lease ROU Asset | 3.6 | 2.4 |
Machinery and equipment. |  |  |
Lessee, Lease, Description [Line Items] |  |  |
Operating lease ROU Asset | $ 0.7 | $ 0.9 |

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