Nature of Business and Accounting Policies - Revenue Recognition (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Contract liabilities	$ 170.3	$ 159.6
Revenues related to performance obligations	$ 159.6	$ 171.7	$ 191.5