Stock-Based Compensation - Schedule of Other Stock Option Statistics (Details) - Employee Stock Option - USD ($) $ / shares in Units, shares in Millions, $ in Millions		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022
Other disclosures
Aggregate intrinsic value of outstanding options		$ 33.6	$ 18.2
Aggregate intrinsic value of exercisable options		26.4	11.8
Total intrinsic value of options exercised		$ 5.9	$ 1.8
Total number of options exercisable (in shares)		1.3	1.2
Weighted average exercise price of options exercisable (in dollars per share)		$ 54.05	$ 52.98
Total unrecognized compensation cost on nonvested options	[1]	$ 1.2	$ 1.7

[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.