CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts receivable	$ 30.3	$ 30.9
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	150,000,000.0	150,000,000.0
Common stock, shares issued (in shares)	66,300,000	66,200,000
Common stock, shares outstanding (in shares)	66,300,000	66,200,000