Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Contingency [Line Items]
Income taxes paid	$ 101.8	$ 143.8	$ 81.9
Income taxes refunded	1.6	4.0	69.2
Federal, state and local, and foreign tax loss carryforwards	69.7	62.3
Federal, state and local, and foreign tax loss carryforwards not subject to expiration	50.5
Federal, state and local, and foreign tax loss carryforwards subject to expiration	19.2
Valuation allowances	39.2	37.0
Unrecognized tax benefits	17.4	18.9	18.6	$ 18.9
Unrecognized tax benefits that would impact effective tax rate	16.7
Interest expense related to unrecognized tax benefits	1.5	0.8	$ 0.8
Accrued interest related to unrecognized tax benefits	3.1	1.8
Net Operating Losses and Capital Loss Carryforwards
Income Tax Contingency [Line Items]
Valuation allowances	39.2	36.5
Foreign Tax Authority
Income Tax Contingency [Line Items]
Capital loss carryforwards	$ 12.6	$ 11.9