Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Gross unrecognized tax benefits at beginning of period	$ 18.9	$ 18.6	$ 18.9
Additions for current year’s tax positions	0.5	1.0	0.5
Increase in prior years’ tax positions	0.2	0.4	0.6
Settlements with taxing authority		(0.3)	(0.4)
Reduction due to expired statute of limitations	(2.2)	(0.8)	(1.0)
Gross unrecognized tax benefits at end of period	$ 17.4	$ 18.9	$ 18.6