Stock-based Compensation - Schedule of Stock Option Activity (Details) $ / shares in Units, shares in Millions, $ in Millions	3 Months Ended
	Mar. 31, 2023 USD ($) $ / shares shares
Awards (in millions)
Beginning balance (in shares) | shares	1.1
Granted (in shares) | shares	0.0
Exercised (in shares) | shares	(0.3)
Forfeited/Expired (in shares) | shares	(0.1)
Ending balance (in shares) | shares	0.7
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 26.56
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	24.61
Forfeited/Expired (in dollars per share) | $ / shares	32.50
Ending balance (in dollars per share) | $ / shares	$ 26.83
Vested and Expected to Vest
Vested and expected to vest, awards (in shares) | shares	0.7
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares	$ 26.83
Vested and expected to vest, aggregate intrinsic value | $	$ 2.8
Vested and expected to vest, weighted average remaining contractual life (in years)	3 years 6 months 7 days
Exercisable
Exercisable, awards (in shares) | shares	0.7
Exercisable, weighted average exercise price (in dollars per share) | $ / shares	$ 26.83
Exercisable, aggregate intrinsic value | $	$ 2.8
Exercisable, weighted average remaining contractual life (in years)	3 years 6 months 7 days