Leases - Supplemental Cash Flow Information Related to Operating Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities
Operating cash flows from operating leases	$ 41.7	$ 42.8	$ 35.9
Right-of-use assets obtained in exchange for lease obligations
Operating leases	$ 24.6	$ 43.6	$ 49.8