Goodwill and Intangible Assets (Details Textual) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Finite Lived Intangible Assets [Line Items]
Total amortization expense	$ 6.4	$ 6.9	$ 19.5	$ 21.8
Estimated total amortization expense 2023	25.7		25.7
Estimated total amortization expense 2024	15.8		15.8
Estimated total amortization expense 2025	11.3		11.3
Estimated total amortization expense 2026	7.8		7.8
Estimated total amortization expense 2027	3.1		3.1
Customer contract costs
Finite Lived Intangible Assets [Line Items]
Total amortization expense	$ 5.0	$ 3.8	$ 14.4	$ 14.2