Leases - Supplemental Balance Sheet Information (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Assets
Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Other current assets	Other current assets
Operating right-of-use assets	$ 92.5	$ 96.8
Liabilities
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Accrued liabilities	Accrued liabilities
Current lease liabilities	$ 19.0	$ 22.7
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other liabilities	Other liabilities
Long-term lease liabilities	$ 78.6	$ 79.4
Total lease liabilities	$ 97.6	$ 102.1
Weighted average remaining lease term (in years):
Weighted-average remaining lease term - operating leases	11 years 4 months 24 days	9 years 4 months 24 days
Weighted average discount rate:
Weighted-average discount rate - operating leases	3.90%	3.60%