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Pension and Other Postretirement Benefit Plans - Narrative (Details) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 USD ($) pension_plan agreement | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2023 USD ($)
Defined Benefit Plan Disclosure |  |  |  |
Accumulated benefit obligation | $ 720.5 | $ 1,012.4 |  |
Tax (expense) benefit related to defined benefit plans recognized in other comprehensive income (loss) | $ (24.9) | (22.7) | $ 18.5 |
Defined benefit plan, loss due to settlement |  |  | $ 12.9 |
Defined Benefit Plan, Net Periodic Benefit (Cost) Credit, Settlement Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration] |  |  | Cost of sales, Selling, general and administrative expenses, Other Income (Expense), Net |
Number of multi-employer pension plans | pension_plan | 2 |  |  |
Number of collective bargaining agreements | agreement | 4 |  |  |
Defined Contribution Retirement Program |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Defined contribution expense | $ 23.5 | $ 20.4 | $ 18.3 |
Unionized Employees | Multi-employer Plan Total Contributions |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Concentration risk percentage (more than) | 5.00% | 5.00% |  |
U.S. | Minimum |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Debt, weighted average interest rate | 4.00% | 4.00% |  |
Foreign |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Defined contribution expense | $ 18.2 | $ 16.4 | 17.1 |
Pension | Forecast |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Estimated required contributions to pension plans in next fiscal year |  |  |  | $ 1.0
Pension | Minimum |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Period for amortizing actuarial losses | 3 years |  |  |
Pension | Maximum |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Period for amortizing actuarial losses | 32 years |  |  |
Pension | U.S. |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Defined benefit plan, loss due to settlement | $ 0.4 | 0.4 | 0.3 |
Pension | U.S. | Minimum | Return Seeking Assets |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 45.00% |  |  |
Pension | U.S. | Minimum | Risk Mitigating Assets |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 35.00% |  |  |
Pension | U.S. | Maximum | Return Seeking Assets |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 65.00% |  |  |
Pension | U.S. | Maximum | Risk Mitigating Assets |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 55.00% |  |  |
Pension | Foreign |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Defined benefit plan, loss due to settlement | $ (0.2) | $ 0.0 | $ 13.0 |
Pension | Foreign | Minimum | Equity Securities |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 20.00% |  |  |
Pension | Foreign | Minimum | Fixed Income |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 30.00% |  |  |
Pension | Foreign | Minimum | Alternative Investments |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 0.00% |  |  |
Pension | Foreign | Minimum | Cash and Other |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 0.00% |  |  |
Pension | Foreign | Maximum | Equity Securities |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 60.00% |  |  |
Pension | Foreign | Maximum | Fixed Income |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 70.00% |  |  |
Pension | Foreign | Maximum | Alternative Investments |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 25.00% |  |  |
Pension | Foreign | Maximum | Cash and Other |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Target percentage of asset allocation | 15.00% |  |  |
Other Postretirement | Minimum |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Period for amortizing actuarial losses | 7 years |  |  |
Other Postretirement | Maximum |  |  |  |
Defined Benefit Plan Disclosure |  |  |  |
Period for amortizing actuarial losses | 16 years |  |  |

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