Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at the beginning of the year	$ 14.1	$ 9.6	$ 12.1
Additions based on tax positions related to current year	0.9	4.2	1.9
Additions for tax positions related to prior years and acquisitions	0.1	1.7	2.4
Reductions for tax positions related to prior years	(6.5)	(0.3)	(0.8)
Reductions for tax positions related to lapse of applicable statute of limitations	(0.4)	(1.1)	(0.2)
Reductions for tax positions related to settlements with taxing authorities	(1.2)	0.0	(5.8)
Balance at the end of the year	$ 7.0	$ 14.1	$ 9.6