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Pension and Other Postretirement Benefits - Funded status of plans (Details) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Pension    
Defined Benefit Plan Disclosure [Line Items]    
Funded status $ (46.9) $ (46.3)
Current liabilities (1.8) (1.8)
Non-current liabilities (45.1) (44.5)
Net amount recognized (46.9) (46.3)
Net loss 85.2 86.7
Prior service cost (benefit) 1.8 0.8
Total 87.0 87.5
Projected benefit obligation for plans with accumulated benefit obligations in excess of plan assets 271.8 263.0
Accumulated benefit obligation for plans with accumulated benefit obligations in excess of plan assets 267.6 258.8
Fair value of plan assets for plans with accumulated benefit obligations in excess of plan assets 224.8 216.6
OPEB    
Defined Benefit Plan Disclosure [Line Items]    
Funded status (75.7) (73.7)
Current liabilities (6.5) (6.1)
Non-current liabilities (69.2) (67.6)
Net amount recognized (75.7) (73.7)
Net loss 14.8 10.4
Prior service cost (benefit) 0.0 0.0
Total $ 14.8 $ 10.4