Income Taxes - Reconciliation of the Beginning and Ending Amount of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 18.4	$ 20.1	$ 11.5
Additions for tax positions of current year	0.1	0.1	0.3
Additions for tax positions of prior years	3.6	0.0	10.9
Reductions for tax positions of prior years	(11.0)	(0.2)	(0.4)
Reductions based on settlements with tax authorities	0.0	(0.2)	(2.1)
Reductions for lapse of statute of limitations	(2.0)	(1.4)	(0.1)
Balance at end of year	$ 9.1	$ 18.4	$ 20.1