Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Line Items]
Net operating loss carryforwards, deferred tax assets	$ 87.5	$ 115.4
Interest and penalties	2.6	0.7	$ 0.1
Unrecognized tax benefits, accrued interest and penalties	5.9	3.1
Unrecognized tax benefits	66.8
State
Income Taxes [Line Items]
Net operating loss carryforwards, deferred tax assets	24.7	21.4
Foreign
Income Taxes [Line Items]
Net operating loss carryforwards, deferred tax assets	59.2	87.9
Federal
Income Taxes [Line Items]
Net operating loss carryforwards, deferred tax assets	$ 0.0	$ 2.5