Leases - Supplemental Cash Flow Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Supplemental cash flow information related to leases
Operating cash flows from finance leases	$ 0.6	$ 0.1	$ 0.1
Operating cash flows from operating leases	20.1	21.2	24.0
Financing cash flows from finance leases	3.3	1.6	0.9
Right-of-use assets obtained in exchange for lease liabilities
Operating leases	22.8	21.2	24.3
Finance leases	$ 13.6	$ 2.7	$ 2.6