Summary of Significant Accounting Policies - Property, Plant and Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Total property, plant and equipment	$ 464.3	$ 436.7
Less: Accumulated depreciation	279.4	255.6
Property, plant and equipment, net	184.9	181.1
Land and land improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	9.0	9.0
Buildings
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	63.9	60.6
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	362.5	338.8
Leased property under finance leases
Property, Plant and Equipment [Line Items]
Leased property under finance leases	$ 28.9	$ 28.3