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Components of Accumulated Other Comprehensive Loss - Components of AOCI (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]          
Other comprehensive loss before income tax effect $ (83.3)   $ (83.3)   $ (84.8)
Income tax effect 2.4   2.4   2.5
Accumulated other comprehensive loss (80.9)   (80.9)   (82.3)
AOCI Attributable to Parent, Net of Tax [Roll Forward]          
Balance, start 439.8 $ 408.3 421.0 $ 546.1  
Net amount reclassified to net income (loss) 0.8 1.1 1.4 2.4  
Balance, end 479.0 370.4 479.0 370.4  
Defined benefit plan liabilities          
Accumulated Other Comprehensive Income (Loss) [Line Items]          
Other comprehensive loss before income tax effect (85.1)   (85.1)   (86.7)
Income tax effect 2.7   2.7   2.9
AOCI Attributable to Parent, Net of Tax [Roll Forward]          
Balance, start (83.4) (119.3) (84.0) (120.6)  
Net amount reclassified to net income (loss) 0.8 1.2 1.4 2.5  
Balance, end (82.6) (118.1) (82.6) (118.1)  
Unrealized gain (loss) on financial instruments          
Accumulated Other Comprehensive Income (Loss) [Line Items]          
Other comprehensive loss before income tax effect 1.8   1.8   1.9
Income tax effect (0.4)   (0.4)   $ (0.4)
AOCI Attributable to Parent, Net of Tax [Roll Forward]          
Balance, start 1.7 1.8 1.7 1.8  
Net amount reclassified to net income (loss) 0.0 (0.1) 0.0 (0.1)  
Balance, end 1.7 1.7 1.7 1.7  
Accumulated other comprehensive loss          
AOCI Attributable to Parent, Net of Tax [Roll Forward]          
Balance, start (81.7) (117.5) (82.3) (118.8)  
Balance, end $ (80.9) $ (116.4) $ (80.9) $ (116.4)