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Pension and Other Postretirement Benefits - Net Annual Benefit (Cost) Assumptions (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Pensions      
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]      
Discount rate 2.84% 2.49% 3.22%
Expected return on plan assets 2.50% 2.25% 3.00%
Rate of compensation increase 3.10% 3.10% 3.10%
Components of net annual benefit cost:      
Service cost $ 3.6 $ 4.7 $ 4.4
Interest cost 29.3 24.5 36.7
Expected return on plan assets (33.1) (31.9) (39.2)
Amortization of prior service cost 0.2 0.2 0.2
Amortization of net actuarial and other (gain) loss 12.4 12.5 17.0
Recognized (gain) loss due to settlement 0.5 1.0 0.7
Net annual benefit cost (income) $ 12.9 $ 11.0 $ 19.8
Other Benefits      
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]      
Discount rate 2.39% 1.91% 2.89%
Expected return on plan assets 0.00% 0.00% 0.00%
Rate of compensation increase 0.00% 0.00% 0.00%
Components of net annual benefit cost:      
Service cost $ 0.0 $ 0.0 $ 0.0
Interest cost 0.3 0.3 0.4
Expected return on plan assets 0.0 0.0 0.0
Amortization of prior service cost 0.0 0.0 0.0
Amortization of net actuarial and other (gain) loss (0.8) (0.8) (0.9)
Recognized (gain) loss due to settlement 0.0 0.0 0.0
Net annual benefit cost (income) $ (0.5) $ (0.5) $ (0.5)