Leases - Components of Lease Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease cost	$ 11.6	$ 12.1	$ 11.0
Short-term lease cost	4.3	4.3	3.2
Amortization of leased assets	2.4	2.5	2.1
Interest on lease liabilities	0.7	0.3	0.3
Total lease cost	$ 19.0	$ 19.2	$ 16.6