Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Beginning Balance	$ 42.7	$ 40.0	$ 36.3
Additions based on prior year positions	2.2	2.9	3.8
Decreases due to settlements and/or reduction in reserves	(1.3)	(0.2)	(0.1)
Ending Balance	$ 43.6	$ 42.7	$ 40.0