Income Taxes - Reconciliation of the Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 26.2	$ 20.6	$ 17.2
Additions based on tax positions related to current year	1.5	2.4	1.3
Additions for tax positions of prior years	1.6	5.3	2.6
Reductions for tax position of prior years	(0.2)	(1.6)	(0.5)
Reductions due to lapse of statute of limitations	(4.6)	(0.5)	0.0
Balance at December 31	$ 24.5	$ 26.2	$ 20.6