Debt - Long-term Debt (Details) - USD ($) $ in Millions	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term debt, gross	$ 207.5	$ 209.2
Less: unamortized debt issuance costs	0.2	0.3
Total debt	207.3	208.9
Less: current portion of long-term debt	55.2	2.2
Long-term debt, net	$ 152.1	206.7
Term Loan, due December 31, 2024 (6.37%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	6.37%
Long-term debt, gross	$ 81.5	83.2
Series B notes, due July 5, 2024 (3.82%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	3.82%
Long-term debt, gross	$ 53.0	53.0
Series C notes, due July 5, 2027 (4.02%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	4.02%
Long-term debt, gross	$ 73.0	$ 73.0