Stock Based Compensation - Summary of Non-Cash Stock-Based Compensation Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-cash stock-based compensation	$ 66.1	$ 61.0	$ 59.7
Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-cash stock-based compensation	10.4	9.9	8.7
2010 SIP and 2019 SIP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-cash stock-based compensation	55.4	50.7	50.2
Performance Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-cash stock-based compensation	$ 0.3	$ 0.4	$ 0.8