Shareholders' Equity - Expense (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	$ 5.1	$ 4.4	$ 10.0	$ 8.7
Additional information
Weighted average remaining service period			2 years
Expected pre-tax stock-based compensation expense	2.7		$ 2.7
2016 Incentive Compensation Plan
Additional information
Weighted average remaining service period			2 years 3 months 18 days
Expected pre-tax stock-based compensation expense	32.9		$ 32.9
Cost of revenues
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	0.4	0.4	0.8	0.7
Selling, general and administrative
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	4.1	3.5	8.0	7.1
Research and development
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	0.6	0.5	1.2	0.9
Other charges, net
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	1.7	1.2	2.2	3.4
Employee Stock Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	0.4	0.4	0.9	0.8
Restricted stock units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	4.4	3.8	8.6	7.5
Employee Stock Purchase Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock-based compensation expense	$ 0.3	$ 0.2	$ 0.5	$ 0.4