Income Taxes - Income (Loss) Before Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ 36.4	$ 8.5	$ 12.8
Foreign	6.4	(4.1)	1.0
Income before income taxes	$ 42.8	$ 4.4	$ 13.8