Stock Based Compensation - Schedule of Restricted Stock and Restricted Stock Units and Restricted Stock and Common Stock Activity (Details) - Restricted stock and restricted stock units - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value of shares vested	$ 30.9	$ 15.8	$ 6.8
Tax benefit realized upon vesting	$ 3.7	$ 2.4	$ 0.9