Stockholders' Equity - Change in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ (84.0)
Net current-period other comprehensive income (loss)	2.7	$ (9.8)	$ 17.5
Ending balance	(81.3)	(84.0)
Actuarial Losses
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(68.6)	(67.9)
Other comprehensive income (loss) before reclassifications	(2.8)	(2.9)
Amounts reclassified from accumulated other comprehensive loss	1.7	2.2
Net current-period other comprehensive income (loss)	(1.1)	(0.7)
Ending balance	(69.7)	(68.6)	(67.9)
Prior Service Costs
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(2.0)	(2.4)
Other comprehensive income (loss) before reclassifications	(0.1)	0.3
Amounts reclassified from accumulated other comprehensive loss	0.1	0.1
Net current-period other comprehensive income (loss)	0.0	0.4
Ending balance	(2.0)	(2.0)	(2.4)
Foreign Currency Translation
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(16.0)	(3.4)
Other comprehensive income (loss) before reclassifications	5.9	(12.6)
Amounts reclassified from accumulated other comprehensive loss	0.0	0.0
Net current-period other comprehensive income (loss)	5.9	(12.6)
Ending balance	(10.1)	(16.0)	(3.4)
Interest Rate Swaps
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	2.6	(0.5)
Other comprehensive income (loss) before reclassifications	0.3	2.9
Amounts reclassified from accumulated other comprehensive loss	(2.4)	0.2
Net current-period other comprehensive income (loss)	(2.1)	3.1
Ending balance	0.5	2.6	(0.5)
Accumulated Other Comprehensive Loss
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(84.0)	(74.2)
Other comprehensive income (loss) before reclassifications	3.3	(12.3)
Amounts reclassified from accumulated other comprehensive loss	(0.6)	2.5
Net current-period other comprehensive income (loss)	2.7	(9.8)	17.5
Ending balance	$ (81.3)	$ (84.0)	$ (74.2)

Amount, after tax, of accumulated increase (decrease) in equity from transaction and other event and circumstance from nonowner source.

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