Income Taxes - Net Operating Losses and Tax Rates (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Net operating losses
Tax benefit for release of uncertain tax position	$ 7.6	$ 7.3
Statutory Federal income tax rate (as a percent)	21.00%	21.00%	21.00%
Domestic Tax Authority
Net operating losses
Operating loss carryforward	$ 566.3	$ 817.4
Estimated effective tax rate on net operating losses	21.00%
State and Local Jurisdiction
Net operating losses
Operating loss carryforward	$ 316.2	$ 380.6
Estimated effective tax rate on net operating losses	3.45%