Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Net operating loss carryforwards	$ 10.0	$ 10.3
Tax credit carryforwards	1.1	1.9
Pension and deferred compensation	22.7	31.4
Royalty acceleration	15.0	46.2
Other	13.9	18.3
Capitalized R&D expenses	23.9	8.1
Leases	18.6	20.6
Unrealized profit in inventory	8.5	7.2
Valuation allowance	(15.5)	(13.3)
Total deferred tax assets	98.2	130.7
Deferred tax liabilities:
Property, plant, and equipment	61.7	53.7
Tax on undistributed earnings of subsidiaries	3.8	1.5
Leases	18.1	19.7
Other	1.6	4.5
Total deferred tax liabilities	85.2	79.4
Net deferred tax asset	$ 13.0	$ 51.3