Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Gross unrecognized tax benefits	$ 5.1	$ 6.6	$ 5.7	$ 7.1
Additions based on tax positions related to the current year	0.3	0.3	0.3
Additions for tax positions of prior years	0.3	4.2	0.0
Reductions for tax positions of prior years	(0.2)	0.0	(0.3)
Lapse of statute of limitations	(1.3)	(2.3)	(1.0)
Settlements	(0.4)	(1.1)	(0.4)
Effect of foreign currency translation	$ (0.2)	$ (0.2)	$ 0.0