Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of the beginning and ending amount of unrecognized tax benefits
Balance of unrecognized tax benefits, January 1	$ 6.8	$ 11.9	$ 17.9
Additions for tax positions of prior years	0.3	0.0	1.6
Additions based on tax positions related to the current year	0.4	1.6	0.1
Reductions for tax positions of prior years	(1.2)	(6.7)	(7.7)
Balance of unrecognized tax benefits, December 31	6.3	6.8	$ 11.9
Income Taxes
Deferred tax assets excluded due to uncertainty in income taxes	1.3	1.2
Net amount of unrecognized tax benefits having impact on the effective tax rate for continuing operations	$ 5.1	$ 5.7