Leasing - Cash Flows from Operating and Financing Leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	$ 30.1	$ 32.9	$ 35.7
Financing cash flows from finance leases	$ 1.2	$ 2.2	$ 1.2