Debt - Summary of Debt Obligations (Details) - USD ($) $ in Millions	Mar. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 663.2	$ 662.8
Senior Notes | 5.25% Senior Notes Due 2028
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 642.1	641.7
Stated interest rate	5.25%
Debt instrument, face amount	$ 650.0
9% Convertible Junior Subordinated Debentures
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 21.1	$ 21.1
Stated interest rate	9.00%