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Pension and Other Postretirement Benefits - Contributions to Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans $ 4.5 $ 5.3
Pensions    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans 3.5 3.8
Other postretirement benefits    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans 1.0 1.3
Qualified Plan | Pensions | UNITED STATES    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans 0.0 0.0
Nonqualified Plan | Pensions | UNITED STATES    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans $ 3.4 $ 3.8