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Summary of Significant Accounting Policies - Components of Accumulated Other Comprehensive Income (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 income (loss), net of tax | $ 949.1 | $ 1,179.3 | $ 682.2 | $ 649.6
Accumulated other comprehensive income (loss), net of tax |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive income (loss), net of tax | 39.1 | (95.4) | $ (119.0) | $ (111.9)
Accumulated pension and OPEB liability adjustments |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss, income tax benefit | 4.3 | 2.5 |  |
Accumulated other comprehensive income (loss), net of tax | (20.3) | (10.9) |  |
Accumulated unrealized gain on derivative instruments |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss, income tax benefit | (12.8) | (12.9) |  |
Accumulated other comprehensive income (loss), net of tax | 27.9 | 44.4 |  |
Accumulated unrealized foreign currency translation adjustments |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Accumulated other comprehensive loss, income tax benefit | 14.6 | 17.0 |  |
Accumulated other comprehensive income (loss), net of tax | $ 31.5 | $ (128.9) |  |

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