Revenue from Contracts with Customers - Accounts Receivable Reserve for Doubtful Accounts (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning Balance	$ 3.8	$ 4.3	$ 4.6
Expense to increase the reserve	4.6	0.3	0.2
Write-off of uncollectible accounts	(0.7)	(0.8)	(0.5)
Ending Balance	$ 7.7	$ 3.8	$ 4.3