Income Taxes - Income from Continuing Operations Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United States	$ (21.3)	$ (26.8)	$ (22.2)
Outside the United States	32.0	25.7	20.4
Income (loss) from continuing operations before income taxes	$ 10.7	$ (1.1)	$ (1.8)