Restructuring - Restructuring Liability Rollforward (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	$ 3.9	$ 11.0
Restructuring costs	10.9	5.1
Reversal of prior accruals	(1.0)	(1.3)
Cash payments	(7.3)	(10.5)
Asset write-offs	(1.8)	(0.1)
Foreign exchange translation and other	0.1	(0.3)
Restructuring liability as of December 31	4.8	3.9
Severance and other employee-related
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	3.9
Restructuring liability as of December 31	4.5	3.9
Other
Restructuring Cost and Reserve [Line Items]
Restructuring liability as of January 1	0.0
Restructuring liability as of December 31	$ 0.3	$ 0.0