Income Taxes - Income Tax Expense (Benefit) (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Current:
Federal	$ 17.1	$ 11.1	$ 4.2
Foreign	7.9	11.2	3.8
State	3.8	1.9	1.8
Total current	28.8	24.2	9.8
Deferred:
Federal	(6.3)	0.6	4.4
Foreign	(8.5)	(15.5)	(6.9)
State	(0.8)	(0.1)	0.1
Total deferred	(15.6)	(15.0)	(2.4)
Total:
Federal	10.8	11.7	8.6
Foreign	(0.6)	(4.3)	(3.1)
State	3.0	1.8	1.9
Total income tax expense	$ 13.2	$ 9.2	$ 7.4