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Income Taxes - Income and Taxes from Continuing Operations (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income (loss) from continuing operations before income taxes      
U.S. $ 1.8 $ (44.3) $ (1.8)
Foreign 234.0 270.5 237.3
Income from continuing operations before tax 235.8 226.2 235.5
Current tax expense (benefit)      
U.S. federal 2.7 2.8 0.5
State 4.0 1.6 0.9
Foreign 109.8 99.3 104.3
Current tax expense 116.5 103.7 105.7
Deferred tax expense (benefit)      
U.S. federal 30.4 (59.3) 6.0
State (4.0) (0.1) 2.9
Foreign (3.7) (2.9) 5.7
Deferred tax expense (benefit) 22.7 (62.3) 14.6
Provision for income taxes of continuing operations 139.2 41.4 120.3
Comprehensive provision (benefit) for income taxes allocable to      
Continuing operations 139.2 41.4 120.3
Discontinued operations 0.5 (0.9) 0.6
Other comprehensive income (loss) (4.5) 55.9 55.3
Equity 0.0 0.0 0.0
Comprehensive provision for income taxes $ 135.2 $ 96.4 $ 176.2