Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 6.6	$ 4.5
Common stock, no par value	$ 0	$ 0
Common stock, shares authorized	200,000,000	200,000,000
Common stock, shares outstanding	42,480,051	43,136,273
Treasury stock, shares	11,991,517	11,124,021