Summary of Significant Accounting Policies - Changes in Product Warranty Liability (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Changes in product warranty liability
Balance at January 1	$ 5.2	$ 7.2	$ 6.4
Claims paid during the year	(2.1)	(2.3)	(1.9)
Warranty expense	2.2	1.0	3.1
Foreign currency translation	0.2	(0.7)	(0.4)
Balance at December 31	$ 5.5	$ 5.2	$ 7.2