Schedule II - Valuation and Qualifying Accounts (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	$ 13.5	$ 12.6	$ 16.2
Charged to costs and expenses	4.5	1.4	(3.6)
Deductions	(1.7)	(0.5)	0.0
Balance at end of period	16.3	13.5	12.6
Deferred tax asset valuation allowance
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	13.3	12.2	15.1
Charged to costs and expenses	2.2	1.1	(2.9)
Deductions	0.0	0.0	0.0
Balance at end of period	15.5	13.3	12.2
Allowance for credit losses
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at beginning of period	0.2	0.4	1.1
Charged to costs and expenses	2.3	0.3	(0.7)
Deductions	(1.7)	(0.5)	0.0
Balance at end of period	$ 0.8	$ 0.2	$ 0.4