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Components of Accumulated Other Comprehensive Loss - Components of AOCI (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other comprehensive loss before income tax effect $ (95.1)   $ (96.3)
Defined benefit plan liabilities 2.2   2.3
Accumulated other comprehensive loss (92.9)   (94.0)
AOCI Attributable to Parent, Net of Tax [Roll Forward]      
Balance, start 399.3 $ 421.0  
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent 1.1 0.6  
Balance, end 362.4 439.8  
Defined benefit plan liabilities      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other comprehensive loss before income tax effect (96.8)   (98.0)
Defined benefit plan liabilities 2.6   2.6
AOCI Attributable to Parent, Net of Tax [Roll Forward]      
Balance, start (95.6) (84.0)  
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent 1.2 0.6  
Balance, end (94.4) (83.4)  
Unrealized gain (loss) on financial instruments      
Accumulated Other Comprehensive Income (Loss) [Line Items]      
Other comprehensive loss before income tax effect 1.7   1.7
Defined benefit plan liabilities (0.3)   $ (0.3)
AOCI Attributable to Parent, Net of Tax [Roll Forward]      
Balance, start 1.6 1.7  
Reclassification from AOCI, Current Period, Net of Tax, Attributable to Parent (0.1) (0.0)  
Balance, end 1.5 1.7  
Accumulated other comprehensive loss      
AOCI Attributable to Parent, Net of Tax [Roll Forward]      
Balance, start (94.0) (82.3)  
Balance, end $ (92.9) $ (81.7)