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Pension and Other Postretirement Benefits - Funded status of plans (Details) - USD ($)
$ in Millions
Dec. 31, 2022
Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]    
Current liabilities $ (9.9) $ (8.9)
Pension    
Defined Benefit Plan Disclosure [Line Items]    
Funded status (46.3) (30.4)
Current liabilities (1.8) (1.8)
Non-current liabilities (44.5) (28.6)
Net amount recognized (46.3) (30.4)
Net loss 86.7 61.2
Prior service cost (benefit) 0.8 0.9
Total 87.5 62.1
Projected benefit obligation for plans with accumulated benefit obligations in excess of plan assets 263.0 360.1
Accumulated benefit obligation for plans with accumulated benefit obligations in excess of plan assets 258.8 355.7
Fair value of plan assets for plans with accumulated benefit obligations in excess of plan assets 216.6 329.7
OPEB    
Defined Benefit Plan Disclosure [Line Items]    
Funded status (73.7) (99.6)
Current liabilities (6.1) (6.3)
Non-current liabilities (67.6) (93.3)
Net amount recognized (73.7) (99.6)
Net loss 10.4 35.0
Prior service cost (benefit) (0.0) (10.3)
Total $ 10.4 $ 24.7