Income Taxes - Summary of Unrecognized Tax Benefit Activity (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Gross unrecognized tax benefits, beginning of year	$ 76.3	$ 67.3	$ 60.9
Increases in prior year tax positions	4.6	10.5	4.6
Decreases in prior year tax positions	(1.2)	(1.2)	(0.4)
Increases for current year tax positions	2.6	2.3	9.0
Expiration of statute of limitations and audit settlements	(51.2)	(2.6)	(6.8)
Gross unrecognized tax benefits, end of year	31.1	76.3	67.3
Potential interest and penalties	1.7	5.3	4.5
Balance, end of year	$ 32.8	$ 81.6	$ 71.8