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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]      
Balance at January 1 $ 36.5 $ 24.9 $ 10.4
Increase due to current year position 6.4 11.4 16.3
Decrease due to prior year position (1.0)   (1.0)
Increase due to prior year position   0.6  
Reduction for expiration of statute of limitations/audits (3.1) (0.4) (0.8)
Balance at December 31 $ 38.8 $ 36.5 $ 24.9