Pension Plans - Schedule of Defined Benefit Plan Amounts Recognized in Other Comprehensive Income (Details) - USD ($) $ in Millions	12 Months Ended
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)

Amount recognized in net periodic benefit cost (credit) and other comprehensive (income) loss.

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Amount, before tax, of accumulated other comprehensive (income) loss for defined benefit plan, that has not been recognized in net periodic benefit cost (credit).

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Amount, before tax, of accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan, that has not been recognized in net periodic benefit (cost) credit.

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Amount, before tax, of accumulated other comprehensive (income) loss for cost (credit) of benefit change attributable to participants' prior service from plan amendment or plan initiation of defined benefit plan, that has not been recognized in net periodic benefit cost (credit).

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Amount, before tax, of reclassification adjustment from accumulated other comprehensive (income) loss for prior service cost (credit) of defined benefit plan.

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Amount, before tax, of increase (decrease) to other comprehensive income from settlement and curtailment gain (loss) of defined benefit plan.

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Amount, before tax, after reclassification adjustment, of (increase) decrease in accumulated other comprehensive income for defined benefit plan.

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Amount, before tax, of gain (loss) for (increase) decrease in value of benefit obligation for change in actuarial assumptions and increase (decrease) in value of plan assets from experience different from that assumed of defined benefit plan, that has not been recognized in net periodic benefit (cost) credit.

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Amount, before tax, of reclassification adjustment from accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan.

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