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Pension Plans - Schedule of Defined Benefit Plan Amounts Recognized in Other Comprehensive Income (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Defined Benefit Plan, Amounts Recognized in Other Comprehensive Income (Loss) [Abstract] |  |  |
Net actuarial gain | $ 11.4 | $ 8.2 | $ 38.8
Amortization of actuarial loss | 1.8 | 2.1 | 3.8
Actuarial loss recognized due to settlement event | 8.9 | 2.0 | 0.0
Amortization of prior service credit | (0.4) | (0.4) | (0.4)
Total recognized in other comprehensive income | 21.7 | 11.9 | 42.2
Total recognized in net periodic benefit cost and other comprehensive income | 13.8 | 11.8 | $ 44.1
Defined Benefit Plan, Accumulated Other Comprehensive (Income) Loss, before Tax [Abstract] |  |  |
Gross actuarial loss | (88.1) | (110.2) |
Gross prior service credit | 10.6 | 11.0 |
Total included in AOCI not yet recognized in the statement of income | $ (77.5) | $ (99.2) |

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- Definition Amount recognized in net periodic benefit cost (credit) and other comprehensive (income) loss. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 17 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480482/715-20-55-17 + Details
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- Definition Amount, before tax, of accumulated other comprehensive (income) loss for defined benefit plan, that has not been recognized in net periodic benefit cost (credit). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -Publisher FASB -URI https://asc.fasb.org//1943274/2147482790/220-10-45-14A Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 10A -Subparagraph (i-k) -SubTopic 10 -Topic 220 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482790/220-10-45-10A Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (j) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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