Leases - Lease cost (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease, Cost [Abstract]
Operating lease cost(a)	$ 153.4	$ 133.6	$ 149.4
Short-term lease cost	25.5	28.9	21.2
Amortization of related assets	44.5	37.9	38.3
Interest on related liabilities	14.0	10.1	9.5
Total lease cost	$ 237.4	$ 210.5	$ 218.4

Amount of interest expense on finance lease liability.

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 55
-Paragraph 53
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479589/842-20-55-53

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 45
-Paragraph 4
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479041/842-20-45-4

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 4
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-4

+ Details

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

- Definition

Amount of amortization expense attributable to right-of-use asset from finance lease.

+ References

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- Definition

Amount of lease cost recognized by lessee for lease contract.

+ References

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Balance Type:	debit
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- References

No definition available.

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- Definition

Amount of single lease cost, calculated by allocation of remaining cost of lease over remaining lease term. Includes, but is not limited to, single lease cost, after impairment of right-of-use asset, calculated by amortization of remaining right-of-use asset and accretion of lease liability.

+ References

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Balance Type:	debit
Period Type:	duration

- Definition

Amount of short-term lease cost, excluding expense for lease with term of one month or less.

+ References

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