Stock-based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	9 Months Ended
	Sep. 30, 2023
Awards (in millions)
Beginning balance (in shares)	1.1
Granted (in shares)	0.0
Exercised (in shares)	(0.5)
Forfeited/Expired (in shares)	(0.1)
Ending balance (in shares)	0.5
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 26.56
Granted (in dollars per share)	0
Exercised (in dollars per share)	24.01
Forfeited/Expired (in dollars per share)	31.32
Ending balance (in dollars per share)	$ 28.05
Vested and Expected to Vest
Vested and expected to vest, awards (in shares)	0.5
Vested and expected to vest, weighted average exercise price (in dollars per share)	$ 28.05
Vested and expected to vest, aggregate intrinsic value	$ 0.6
Vested and expected to vest, weighted average remaining contractual life (in years)	3 years 1 month 6 days
Exercisable
Exercisable, awards (in shares)	0.5
Exercisable, weighted average exercise price (in dollars per share)	$ 28.05
Exercisable, aggregate intrinsic value	$ 0.6
Exercisable, weighted average remaining contractual life (in years)	3 years 1 month 6 days