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Shareholders' Equity - Components of Accumulated Other Comprehensive Loss, Net of Tax (Parenthetical) (Details) - USD ($)
$ in Millions
Mar. 31, 2024
Dec. 31, 2023
Gain on interest rate swap, net of income taxes of $0.3 on both dates    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Accumulated other comprehensive loss, income taxes $ 0.3 $ 0.3
Defined benefit pension plans, net of income tax benefit of $(23.1) and $(23.0), respectively    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Accumulated other comprehensive loss, income taxes (23.1) (23.0)
Gain (Loss) on derivative instruments, net of income tax benefit of $(10.8) and $(22.7), respectively    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Accumulated other comprehensive loss, income taxes (10.8) (22.7)
Translation loss on long-term intercompany loans, net of income taxes of $19.1 on both dates    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Accumulated other comprehensive loss, income taxes 19.1 19.1
Retiree health care plan, net of income taxes of $2.0 on both dates    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Accumulated other comprehensive loss, income taxes $ 2.0 $ 2.0