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Retirement and Deferred Compensation Plans - Additional Information (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) Insurance_contract | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Defined Benefit Plan Disclosure [Line Items] |  |  |
Pension liability | $ 5.8 | $ 2.7 | $ 1.0
Deferred compensation plans, asset and liability | 144.2 | 114.4 |
Statutory Plans Member [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total expense | 29.5 | 31.4 | $ 32.2
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 | 89.0 | 76.8 |
Accumulated benefit obligation for plan | 625.1 | 554.1 |
Projected benefit obligation for plans | 732.4 | 652.8 |
Accumulated benefit obligation for plans that do not have plan assets | 80.9 | 74.9 |
Prior service cost (credit) recognized in accumulated other comprehensive loss | 0.7 |  |
Estimated Net Gain | (1.5) |  |
Estimated employer contribution to pension plans during next fiscal year | 16.4 |  |
Pension Plan [Member] | Qualified Plan [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Accumulated benefit obligation for plan | 706.0 | 629.0 |
Postretirement Health Coverage [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Net loss recognized in accumulated other comprehensive loss | (0.3) | (0.5) |
Prior service cost (credit) recognized in accumulated other comprehensive loss | $ 1.0 | $ 1.7 |
Discount rate used in measurement of benefit obligation (as a percent) | 4.90% | 5.10% |
Discount rate used in measurement of net periodic benefit cost (as a percent) | 5.10% | 2.60% | 2.20%
Health care cost trend rate assumed for next fiscal year (as a percent) | 7.40% |  |
Ultimate health care cost trend rate (as a percent) | 4.40% |  |
Foreign Plan [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Pension liability | $ 5.8 | $ 2.7 | $ 1.0
Foreign Plan [Member] | Pension Plan [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Settlement of lump sum payments | $ 66.4 | $ 57.4 |
Expected long-term return on plan assets | 3.50% | 2.20% | 1.80%
Number of foreign plans using guaranteed insurance contracts | Insurance_contract | 4 |  |
Net loss recognized in accumulated other comprehensive loss | $ 26.9 | $ 4.6 |
Prior service cost (credit) recognized in accumulated other comprehensive loss | $ 5.1 | $ 3.1 |
Discount rate used in measurement of benefit obligation (as a percent) | 2.70% | 3.20% |
Foreign Plan [Member] | Pension Plan [Member] | Minimum [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Expected long-term return on plan assets | 2.50% |  |
Foreign Plan [Member] | Pension Plan [Member] | Maximum [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Expected long-term return on plan assets |  | 5.00% |
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 | 4.0 | 4.5 |
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) | 5.20% | 5.40% |
Company Sponsored Plans [Member] |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Total expense | $ 19.2 | $ 18.4 | $ 17.3

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