Fair Value of Financial Instruments - Schedule of Contingent Consideration Liabilities Recorded at Fair Value (Details) - Level 3 - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Contingent consideration	$ 4.6	$ 9.8	$ 2.8
Other Current Liabilities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Contingent consideration	0.4	1.8
Other Liabilities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Contingent consideration	$ 4.2	$ 8.0