Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Activity related to unrecognized tax benefit
Balance at the beginning of the period	$ 2.5	$ 9.7	$ 10.5
Additions based on tax positions related to the current year	0.4	0.2	0.2
Reductions for tax positions of prior years	0.0	0.0	0.0
Expiration of the statute of limitations for the assessment of taxes	(0.5)	(7.4)	(1.0)
Balance at the end of the period	$ 2.4	$ 2.5	$ 9.7