Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Reconciliation of the beginning and ending amount of unrecognized tax benefits | |||
| Balance of unrecognized tax benefits, January 1 | $ 6.3 | $ 6.8 | $ 11.9 |
| Additions for tax positions of prior years | 0.2 | 0.3 | 0.0 |
| Additions based on tax positions related to the current year | 0.0 | 0.4 | 1.6 |
| Reductions for tax positions of prior years | (1.9) | (1.2) | (6.7) |
| Balance of unrecognized tax benefits, December 31 | 4.6 | 6.3 | $ 6.8 |
| Income Taxes | |||
| Deferred tax assets excluded due to uncertainty in income taxes | 1.1 | 1.3 | |
| Net amount of unrecognized tax benefits having impact on the effective tax rate for continuing operations | $ 3.6 | $ 5.1 | |