Restructuring - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expense	$ 0.6	$ 0.5
Decrease in restructuring reserve	1.3
Restructuring costs incurred to date	6.0		$ 5.4
Charged to Earnings	1.6
Restructuring charges, release of liability	1.0
2022/2023 restructuring plan | Minimum
Restructuring Cost and Reserve [Line Items]
Total expected restructuring cost under plan	8.0
2022/2023 restructuring plan | Maximum
Restructuring Cost and Reserve [Line Items]
Total expected restructuring cost under plan	10.0
Severance and related expense
Restructuring Cost and Reserve [Line Items]
Restructuring costs incurred to date	6.0		$ 5.4
Charged to Earnings	1.6
Restructuring charges, release of liability	$ 1.0