Stock-Based Compensation - Schedule of Stock-Based Compensation Expense by Type of Award (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 20.9	$ 19.9	$ 18.9
Tax benefit from stock exercised and converted during the period	2.5	1.6	2.5
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	4.5	5.4	7.3
Restricted stock, service based (“RSUs”)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	7.7	7.2	7.7
Restricted stock, performance based (“PRSUs”)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	8.0	6.7	3.6
Employee stock purchase plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 0.7	$ 0.6	$ 0.3