Income Taxes - Net Operating Losses (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Operating Loss Carryforwards [Line Items]
2024-2028	$ 1.0
2029-2033	2.5
2034 and thereafter	16.8
Unlimited	36.9
Tax benefit of net operating loss carryforwards before valuation allowances	57.2	$ 53.4
Federal
Operating Loss Carryforwards [Line Items]
2024-2028	0.0
2029-2033	0.0
2034 and thereafter	0.0
Unlimited	1.2
Tax benefit of net operating loss carryforwards before valuation allowances	1.2
State
Operating Loss Carryforwards [Line Items]
2024-2028	0.0
2029-2033	0.7
2034 and thereafter	11.6
Unlimited	2.2
Tax benefit of net operating loss carryforwards before valuation allowances	14.5
Foreign
Operating Loss Carryforwards [Line Items]
2024-2028	1.0
2029-2033	1.8
2034 and thereafter	5.2
Unlimited	33.5
Tax benefit of net operating loss carryforwards before valuation allowances	$ 41.5