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Postretirement and Other Benefits - PBO and ABO in Excess of Fair Value of Plan Assets (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Pension Benefits | United States |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
PBO | $ 342.0 | $ 339.6 |
ABO | 340.1 | 335.8 |
Fair value of plan assets | 356.8 | 349.2 | $ 124.7
Pension Benefits | Non-U.S. |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
PBO | 219.5 | 189.9 |
ABO | 218.6 | 189.0 |
Fair value of plan assets | 192.9 | 174.6 | 215.7
Other Postretirement Benefits | United States |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
PBO | 23.2 | 25.0 |
ABO | 0.0 | 0.0 |
Fair value of plan assets | 0.0 | 0.0 | 0.0
Other Postretirement Benefits | Non-U.S. |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
PBO | 3.8 | 3.6 |
ABO | 0.0 | 0.0 |
Fair value of plan assets | 0.0 | 0.0 | $ 0.0
Pension Plan, Excluding Immaterial Plans | Non-U.S. |  |  |
Defined Benefit Plans and Other Postretirement Benefit Plans Table Text Block [Line Items] |  |  |
Fair value of plan assets | $ 158.0 | $ 143.3 |

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