Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of unrecognized tax benefits for the years ended
Beginning balance	$ 36.1	$ 45.6	$ 38.9
Tax positions related to the current year:
Additions	0.6	1.6	2.2
Tax positions related to prior years:
Additions	4.0	3.7	8.7
Reductions	(4.7)	(8.1)	(1.0)
Settlements with tax authorities	(1.9)	(1.7)	(0.3)
Lapses in statutes of limitation	(8.1)	(5.0)	(2.9)
Ending balance	$ 26.0	$ 36.1	$ 45.6