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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)