Unrecognized Tax Benefits and Tax Reform (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 5.5	$ 6.9	$ 7.0
Additions based on tax positions related to the current year	0.0	0.0	0.0
Additions for tax positions of prior years	1.2	0.6	0.8
Reductions for tax positions of prior years	0.0	0.0	0.0
Reductions for expirations of statute of limitations	(1.6)	(1.4)	(0.9)
Settlements	0.0	(0.6)	0.0
Balance at December 31	5.1	5.5	6.9
Unrecognized tax benefits, accumulated interest and penalties	10.7	9.6	9.1
Deferred tax assets related to unrecognized tax benefits	3.6	3.4	3.6
Net unrecognized tax benefits, associated interest, penalties and deferred tax asset that if resolved would impact effective tax rate	12.2	11.7	12.4
Recognized interest and penalties	$ 0.8	$ 0.4	$ 0.6