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Pension and Other Postretirement Benefits - Contributions to Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans $ 2.4 $ 4.5
Pensions    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans 1.2 3.5
Other postretirement benefits    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans 1.2 1.0
U.S. qualified pension 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
U.S. nonqualified pension plan | Pensions | UNITED STATES    
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items]    
Contributions to pension and other postretirement plans $ 1.1 $ 3.4