Debt - Long-term Debt (Details) - USD ($) $ in Millions	Mar. 31, 2024	Dec. 31, 2023
Debt Instrument [Line Items]
Long-term debt, gross	$ 206.4	$ 207.0
Less: unamortized debt issuance costs for Term Loan and Series Notes	0.2	0.2
Total debt	206.2	206.8
Less: current portion of long-term debt	133.4	134.0
Long-term debt, net	$ 72.8	72.8
Term Loan, due December 31, 2024 (6.28%)
Debt Instrument [Line Items]
Debt instrument, stated interest rate	6.28%
Long-term debt, gross	$ 80.4	81.0
Less: current portion of long-term debt	$ 80.4
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