Income Taxes - Summary of Changes Related to PCAs Gross Unrecognized Tax Benefits Excluding Interest and Penalties (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Balance as of January 1	$ (1.9)	$ (5.2)	$ (4.8)
Increases related to prior years’ tax positions	(0.2)	0.0	0.0
Increases related to current year tax positions	(0.4)	(0.3)	(0.4)
Decreases related to prior years' tax positions	0.0	0.2	0.0
Settlements with taxing authorities	0.0	3.0	0.0
Expiration of the statute of limitations	0.8	0.4	0.0
Balance at December 31	$ (1.7)	$ (1.9)	$ (5.2)