Financing and Trade Receivables - Schedule of Financing Receivables (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Gross current financing receivables:
Current financing receivables, gross	$ 123.8	$ 115.0
Total allowance for credit losses	20.1	19.6
Total current financing receivables, net	103.7	95.4
Gross long-term financing receivables:
Long-term financing receivables, gross	309.9	287.5
Long-term financing receivable, allowance for credit losses	33.7	37.7
Total long-term financing receivables, net	276.2	249.8
PSAs
Gross current financing receivables:
Current financing receivables, gross	100.7	96.6
Total allowance for credit losses	12.8	13.1
Total current financing receivables, net	87.9	83.5
Gross long-term financing receivables:
Long-term financing receivables, gross	245.7	224.0
Long-term financing receivable, allowance for credit losses	28.7	32.4
Total long-term financing receivables, net	217.0	191.6
Franchisee Notes
Gross current financing receivables:
Current financing receivables, gross	23.1	18.4
Total allowance for credit losses	7.3	6.5
Total current financing receivables, net	15.8	11.9
Gross long-term financing receivables:
Long-term financing receivables, gross	64.2	63.5
Long-term financing receivable, allowance for credit losses	5.0	5.3
Total long-term financing receivables, net	$ 59.2	$ 58.2