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Income Taxes - Roll forward of interest accrued on unrecognized tax benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Balance as of January 1 $ 0.5 $ 0.1 $ 0.5
Interest expense (income) related to unrecognized tax benefits 0.1 0.4 (0.4)
Balance as of December 31 0.6 0.5 0.1
Penalties in the consolidated income statements 0.0 0.0 $ 0.0
Accrued penalties on the consolidated balance sheets 0.0 $ 0.0  
Unrecognized tax benefits, decrease resulting from statute of limitations $ 0.6