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Accumulated Other Comprehensive Loss - Components of Accumulated Other Comprehensive Loss, Net of Tax (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | $ 2,234.1 | $ 2,458.1 | $ 2,531.7 | $ 2,453.6
Defined benefit pension plans, net of income benefit of $(20.4) and $(22.8), respectively |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | (36.0) | (12.2) |  |
Retiree health care plan, net of income taxes of $1.9 and $1.6, respectively |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | 1.3 | 1.2 |  |
Foreign currency translation |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | (261.2) | (369.7) |  |
(Loss) gain on derivative instruments, net of income tax benefit of $(22.7) and $(5.3), respectively |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | (37.6) | 53.4 |  |
Translation loss on long-term intercompany loans, net of income taxes of $19.1 and $19.9, respectively |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | (133.6) | (132.8) |  |
Gain on interest rate swap, net of income taxe of $0.4 for 2022 |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | 1.1 | 1.4 |  |
Accumulated other comprehensive loss |  |  |  |
Accumulated Other Comprehensive Income Loss [Line Items] |  |  |  |
Accumulated other comprehensive loss | $ (466.0) | $ (458.7) | $ (389.4) | $ (397.3)

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