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Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets        
Pension liabilities $ 41.0 $ 33.5    
Retirement benefits other than pensions 19.7 23.8    
Lease liabilities 88.2 80.9    
Workers’ compensation and other claims 27.1 27.5    
Property and equipment, net 44.3 54.1    
Other assets and liabilities 136.4 113.3    
Net operating loss carryforwards 57.2 53.4    
Interest limitations and other tax carryforwards(a) 48.8 20.6    
Foreign tax and other tax credits(b) 61.8 57.4    
Subtotal 524.5 464.5    
Valuation allowances (128.0) (77.3) $ (141.5) $ (128.1)
Total deferred tax assets 396.5 387.2    
Deferred tax liabilities        
Right-of-use assets, net 78.8 76.8    
Goodwill and other intangibles 110.8 100.3    
Other assets and miscellaneous 31.6 31.7    
Deferred tax liabilities 221.2 208.8    
Net deferred tax asset 175.3 178.4    
Included in:        
Noncurrent assets 231.8 246.2    
Noncurrent liabilities (56.5) (67.8)    
Operating Loss Carryforwards [Line Items]        
Interest limitations and other tax carryforwards 48.8 $ 20.6    
Foreign tax credit amount 55.8      
Other tax credit amount 6.0      
Tax credit carryforward valuation allowance 45.3      
United States        
Deferred tax assets        
Net operating loss carryforwards 1.2      
Interest limitations and other tax carryforwards(a) 31.8      
Operating Loss Carryforwards [Line Items]        
Interest limitations and other tax carryforwards 31.8      
Foreign        
Deferred tax assets        
Net operating loss carryforwards 41.5      
Interest limitations and other tax carryforwards(a) 17.0      
Operating Loss Carryforwards [Line Items]        
Interest limitations and other tax carryforwards $ 17.0