Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Sep. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for credit loss	$ 2.5	$ 2.3
Allowance for credit loss, receivable, other, current	0.7	0.7
Accumulated depreciation	243.2	233.8
Accumulated amortization	$ 49.3	$ 45.1
Preferred stock, shares authorized	2,000,000	2,000,000
Preferred stock, par value (in dollars per share)	$ 1.00	$ 1.00
Preferred stock, shares issued	0	0
Common stock, shares authorized	40,000,000	40,000,000
Common stock, par value (in dollars per share)	$ 0.20	$ 0.20
Common stock, shares issued	22,739,296	22,624,031
Common stock, shares outstanding	22,739,296	22,624,031