Leases - Lease Cost (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Fixed lease cost	$ 33.0	$ 30.8	$ 31.5
Variable lease cost	2.7	2.3	2.3
Total lease expense	$ 35.7	$ 33.1	$ 33.8