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Retirement Benefit Plans - Reconciliation of Level 3 Investments (Details) - U.K. Pension Plan - Non-U.S. Plan - Pension Plan - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Fair Value, Assets Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward] |  |  |
Fair value at beginning of year | $ 12.7 | $ 11.3 | $ 12.9
Purchases, sales, issuances and settlements, net | (0.3) | (0.3) |
Net (loss) gain | 1.1 | 0.1 |
Foreign currency | 0.6 | (1.4) |
Fair value at end of year | $ 12.7 | $ 11.3 |

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