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Retirement and Deferred Compensation Plans - Additional Information (Details) $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
Feb. 29, 2020 USD ($) | Jan. 31, 2020 USD ($) | Dec. 31, 2022 USD ($) Insurance_contract | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Settlement of lump sum payments | $ 3.2 |  |  |  |
Pension liability |  |  | $ 6.6 |  |
Remaining plan assets in excess of pension liability |  |  | 16.6 |  |
Pension liability |  |  | 2.7 | $ 1.0 | $ 9.3
Deferred compensation plans, asset and liability |  |  | 114.4 | 136.9 |
Company Sponsored Plans [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Total expense |  |  | 18.4 | 17.3 | 16.6
Statutory Plans Member [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Total expense |  |  | 31.4 | 32.2 | $ 7.5
Retiree Health Care Plan |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Prior service cost (credit) recognized in accumulated other comprehensive loss |  |  | 0.8 |  |
Pension Plan [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Remaining plan assets in excess of pension liability |  |  | 76.8 | 99.4 |
Accumulated benefit obligation for plan |  |  | 554.1 | 787.5 |
Accumulated benefit obligation for plans that do not have plan assets |  |  | 74.9 | 104.2 |
Prior service cost (credit) recognized in accumulated other comprehensive loss |  |  | 0.7 |  |
Estimated Net Gain |  |  | (3.3) |  |
Estimated employer contribution to pension plans during next fiscal year |  |  | 16.0 |  |
Pension Plan [Member] | Qualified Plan [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Accumulated benefit obligation for plan |  |  | 629.0 | 891.7 |
Projected benefit obligation for plans |  |  | 652.8 | 923.9 |
Postretirement Health Coverage [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Net loss recognized in accumulated other comprehensive loss |  |  | 0.5 | 2.2 |
Prior service cost (credit) recognized in accumulated other comprehensive loss |  |  | $ 1.7 | $ 2.3 |
Discount rate used in measurement of benefit obligation (as a percent) |  |  | 5.10% | 2.60% |
Discount rate used in measurement of net periodic benefit cost (as a percent) |  |  | 2.60% | 2.20% | 3.00%
Health care cost trend rate assumed for next fiscal year (as a percent) |  |  | 6.70% |  |
Ultimate health care cost trend rate (as a percent) |  |  | 4.50% |  |
Foreign Plan [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Pension liability |  |  | $ 2.7 | $ 1.0 |
Foreign Plan [Member] | Pension Plan [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Settlement of lump sum payments |  |  | $ 57.4 | $ 61.7 |
Expected long-term return on plan assets |  |  | 2.20% | 1.80% | 2.20%
Number of foreign plans using guaranteed insurance contracts | Insurance_contract |  |  | 4 |  |
Net loss recognized in accumulated other comprehensive loss |  |  | $ 4.6 | $ 41.8 |
Prior service cost (credit) recognized in accumulated other comprehensive loss |  |  | $ 3.1 | $ 7.1 |
Discount rate used in measurement of benefit obligation (as a percent) |  |  | 3.20% | 1.00% |
Foreign Plan [Member] | Pension Plan [Member] | Minimum [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Expected long-term return on plan assets |  |  | 0.50% |  |
Foreign Plan [Member] | Pension Plan [Member] | Maximum [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Expected long-term return on plan assets |  |  |  | 3.00% |
UNITED STATES |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Contributions to pension plans |  | $ 19.2 |  |  |
UNITED STATES | Pension Plan [Member] |  |  |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |  |  |
Settlement of lump sum payments |  |  | $ 0.0 | $ 0.0 |
Net loss recognized in accumulated other comprehensive loss |  |  | 4.5 | 7.8 |
Prior service cost (credit) recognized in accumulated other comprehensive loss |  |  | $ 0.0 | $ 0.0 |
Discount rate used in measurement of benefit obligation (as a percent) |  |  | 5.40% | 2.60% |

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