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Pension Plans - Qualified and Non-Qualified Plans - Amounts Recognized in Other Comprehensive Income (Details) - Pension Plan [Member] - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), after Reclassification Adjustment, before Tax [Abstract] |  |  |
Net gain (loss) recognized in other comprehensive income | $ 5.3 | $ (0.6) | $ 9.9
Net gain (loss) recognized in other comprehensive income after tax | (1.6) | 0.0 | $ 0.0
Accumulated Other Comprehensive (Income) Loss, Defined Benefit Plan, after Tax [Abstract] |  |  |
Unrecognized actuarial losses included in other comprehensive loss, net of tax | 16.3 | 20.0 |
Defined Benefit Plan, Accumulated Other Comprehensive (Income) Loss, before Tax [Abstract] |  |  |
Unrecognized actuarial losses included in other comprehensive loss | $ 21.5 | $ 26.7 |

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