Share-based Compensation and Other Employment Benefit Plans - Narrative (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) simulation shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($) shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost	$ 35.4
Unrecognized compensation cost, period of recognition (years)	1 year 9 months 21 days
Stock option grants (in shares) | shares	0	0	0
Options outstanding, intrinsic value	$ 2.9
Options outstanding, weighted average remaining contractual term (years)	2 years 1 month 6 days
Options exercised, intrinsic value	$ 11.2	$ 10.0	$ 21.3
Performance Share Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of simulations | simulation	100,000
Non-option awards vested, total fair value	$ 7.4	$ 2.2	$ 2.4
Performance Share Units (PSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of awards subject to market condition	50.00%	50.00%	50.00%
Restricted Share Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-option awards vested, total fair value	$ 26.1	$ 28.0	$ 19.8
2021 Omnibus Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of authorized but unissued common stock reserved for future grants (in shares) | shares	5,800,000
Common stock, reserved for future issuance (in shares) | shares	4,300,000