Leases - Lease Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Leases [Abstract]
Operating lease cost	$ 26.2	$ 26.6	$ 25.1
Finance lease cost	0.1	0.1	0.2
Total lease cost	26.3	26.7	$ 25.3
Short-term lease cost	4.8	4.0
Variable lease cost	$ 3.3	$ 2.2