Schedule II - Valuation and Qualifying Accounts (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	$ 12.6	$ 16.2	$ 16.4
Charged to costs and expenses	1.4	(3.6)	0.7
Deductions	(0.5)	0.0	(0.9)
Balance at end of period	13.5	12.6	16.2
Deferred tax asset valuation allowance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	12.2	15.1	15.9
Charged to costs and expenses	1.1	(2.9)	0.0
Deductions	0.0	0.0	(0.8)
Balance at end of period	13.3	12.2	15.1
Allowance for credit losses
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	0.4	1.1	0.5
Charged to costs and expenses	0.3	(0.7)	0.7
Deductions	(0.5)	0.0	(0.1)
Balance at end of period	$ 0.2	$ 0.4	$ 1.1