Income Taxes - Schedule of Transactions Affecting Valuation Allowance on Deferred Tax Assets (Details) - Valuation Allowance of Deferred Tax Assets - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Valuation Allowance [Line Items]
Balance, beginning of year	$ 4.8	$ 7.5	$ 5.2
Expense (income), net	0.6	(2.7)	2.3
Balance, end of year	$ 5.4	$ 4.8	$ 7.5