Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of period	$ 26.6	$ 28.3	$ 26.0
Additions based on tax positions related to the current year	1.7	1.7	3.1
Additions for tax positions of prior years	1.2	0.5	0.5
Reductions for tax positions of prior years	(1.5)	(0.9)	(0.2)
Settlement of tax audits	0.0	(2.7)	0.0
Current year acquisitions	0.0	6.7	0.0
Reductions due to lapsed statute of limitations	(1.8)	(7.0)	(1.1)
Balance at end of period	$ 26.2	$ 26.6	$ 28.3