Employee Incentive Plans - Summary of Non-Cash Compensation Expense under LTI Programs (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash compensation expense	$ 15.4	$ 13.7	$ 12.6
Restricted Stock and Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash compensation expense	10.7	8.8	8.1
Performance Shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total non-cash compensation expense	$ 4.7	$ 4.9	$ 4.5