Stock-Based Compensation - Schedule of Other Stock Option Statistics (Details) - Non-qualified stock options - USD ($) $ / shares in Units, shares in Millions, $ in Millions		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021
Other disclosures
Aggregate intrinsic value of outstanding options		$ 18.2	$ 10.6
Aggregate intrinsic value of exercisable options		11.8	5.9
Total intrinsic value of options exercised		$ 1.8	$ 4.5
Total number of options exercisable (in shares)		1.2	1.0
Weighted average exercise price of options exercisable (in dollars per share)		$ 52.98	$ 51.56
Total unrecognized compensation cost on nonvested options	[1]	$ 1.7	$ 2.7

[1] Unrecognized compensation cost relates to non-vested stock options and is expected to be recognized over the remaining vesting period ranging from one year to three years.