Income Taxes - Summary of Income (Loss) from Continuing Operations Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income (loss) from continuing operations before income taxes:
United States	$ (32.7)	$ (203.8)	$ (39.0)
Foreign	76.9	83.6	56.1
Income (loss) before income taxes	$ 44.2	$ (120.2)	$ 17.1