Leases - Lease Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating leases	$ 45.1	$ 44.2	$ 38.6
Finance leases
Amortization	6.3	5.4	5.9
Interest	0.6	0.7	0.8
Total finance leases	$ 6.9	$ 6.1	$ 6.7