Stock-Based Compensation - Schedule of Stock-Based Compensation Expense by Type of Award (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 19.9	$ 18.9	$ 14.7
Tax benefit from stock exercised and converted during the period	1.6	2.5	4.5
Non-qualified stock options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	5.4	7.3	6.8
Restricted stock, service based (“RSUs”)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	7.2	7.7	8.4
Restricted stock, performance based (“PRSUs”)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	6.7	3.6	(0.7)
Employee stock purchase plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 0.6	$ 0.3	$ 0.2