Restructuring Charges - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) employee	Dec. 31, 2022 USD ($) employee	Dec. 31, 2021 USD ($) employee
Restructuring and Related Activities [Abstract]
Restructuring charges	$ 13.2	$ 20.5	$ 25.1
Severance costs	$ 10.0	$ 14.0	$ 18.9
Number of employees impacted | employee	190	270	190
Contract termination, write-down of right-of-use assets and other exit costs	$ 3.2	$ 6.5	$ 6.2