Income Taxes - Reconciliation of the U.S. Federal Statutory Income Tax Rate to the Company's Effective Income Tax Rate for Continuing Operations (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Expense (Benefit), Effective Income Tax Rate Reconciliation, Amount [Abstract]
Federal income tax at statutory rate	$ 9.3	$ (25.2)	$ 3.6
State income tax provision	2.0	0.9	0.3
Manufacturing and research incentives	(1.3)	(0.5)	(0.2)
Taxes on foreign income which differ from the federal statutory rate	9.1	(1.9)	1.5
Adjustments for unrecognized tax benefits	0.2	(11.0)	(2.3)
Adjustments to valuation allowances	(28.6)	5.2	4.5
United States tax reform	10.1	4.8	(1.6)
Goodwill and indefinite-lived intangible asset impairment	0.0	31.7	0.0
Audit settlements	(3.0)	0.0	(1.9)
Non-deductible expenses	8.2	1.6	1.3
Other items	(1.0)	(2.2)	0.9
Provision for income taxes	$ 5.0	$ 3.4	$ 6.1