Commitments and Contingencies - Schedule of Product Warranty (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Changes in accrued product warranty cost
Balance at the beginning of the period	$ 3.1	$ 2.5	$ 2.6
Warranty expense	3.3	3.3	2.0
Deductions and other	(3.6)	(2.7)	(2.1)
Balance at the end of the period	$ 2.8	$ 3.1	$ 2.5