Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Beginning and Ending amount of Unrecognized tax benefits
Unrecognized Tax Benefit, Beginning of Period	$ 0.8	$ 1.0	$ 2.1
Gross Increases to Tax Positions Related to Prior Years	0.0	0.3	0.0
Gross Decreases related to settlements with taxing authorities	0.0	0.0	(0.1)
Expiration of Statute of Limitations	(0.3)	(0.5)	(1.0)
Unrecognized Tax Benefit, End of Period	$ 0.5	$ 0.8	$ 1.0