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Fair Value of Financial Instruments - Other Investments - AVCT (Details) - AVCT - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]        
Equity investment ownership percentage   1.00% 3.00%  
Beneficial ownership of all interests percentage   1.00% 6.00%  
Equity investment and warrants, amount paid (in dollars)   $ 6.3 $ 6.3  
Unrealized fair value measurement gains, net, AVCT shares   (7.7) (8.5) $ 10.1
Reclassified gains (losses) on AVCT convertible debentures $ 0.7      
Unrealized gains on AVCT convertible debentures, before tax     (1.1) 1.8
Unrealized gains on AVCT convertible debentures, net of tax     (0.8) $ 1.4
Common Stock        
Fair Value, Financial Instruments Measured on a Recurring Basis [Line Items]        
Equity securities, fair value   $ 0.2 $ 7.9