Debt - Long-term Debt (Details) - USD ($) $ in Millions	Jun. 30, 2024	Dec. 31, 2023	Jul. 05, 2012
Debt Instrument [Line Items]
Long-term debt, gross	$ 205.9	$ 207.0
Less: unamortized debt issuance costs	0.1	0.2
Total debt	205.8	206.8
Less: current portion of long-term debt	132.9	134.0
Long-term debt, net	$ 72.9	72.8
Term Loan, due December 31, 2024 (8.50%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	8.50%
Long-term debt, gross	$ 79.9	81.0
Less: current portion of long-term debt	$ 79.9
Series B notes, due July 5, 2024 (3.82%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	3.82%		3.82%
Long-term debt, gross	$ 53.0	53.0
Series C notes, due July 5, 2027 (4.02%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	4.02%
Long-term debt, gross	$ 73.0	$ 73.0