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Pension and Other Postretirement Benefits - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Maximum percentage of employee's compensation eligible for employer matching contributions | 5.00% |  |
Additional employer annual contribution (as a percent) | 5.00% |  |
Charges for defined contribution plans | $ 19.1 | $ 17.5 | $ 15.6
Defined Contribution Plan, Employer Matching Contribution, Percent of Match | 80.00% |  |
UNITED STATES |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Expected return on plan assets |  | 2.50% | 2.25%
Decrease in rate of return on plan assets | 2.25% |  |
Estimated inflation rate assumptions for rate of return on plan assets | 2.30% |  |
UNITED STATES | Fixed Income Investments |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Target asset allocation | 100.00% |  |
Pensions |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Accumulated benefit obligation | $ 1,027.0 | $ 1,036.7 |
Expected return on plan assets | 4.75% | 2.50% | 2.25%

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- Definition Amount of actuarial present value of benefits attributed to employee service rendered, excluding assumptions about future compensation level. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (e) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-8 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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- Definition Percentage of target investment allocation to total plan assets. Includes, but is not limited to, percentage on weighted-average basis if more than one plan. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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