Leases - Components of Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating lease cost:
Amortization of right-of-use assets	$ 5.6	$ 5.6	$ 4.5
Interest on lease liabilities	1.1	1.3	1.1
Total operating lease cost	$ 6.7	$ 6.9	$ 5.6