Restructuring Activities - Restructuring Charges (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve
Total severance costs	$ 12.1	$ 0.0	$ 1.2
Total other restructuring costs (credits)	1.4	(1.0)	2.3
Restructuring costs	13.5	(1.0)	3.5
Cost of sales
Restructuring Cost and Reserve
Total severance costs	0.3	0.0	0.4
Total other restructuring costs (credits)	0.2	(1.0)	2.2
Selling, general, and administrative expenses
Restructuring Cost and Reserve
Total severance costs	11.8	0.0	0.8
Total other restructuring costs (credits)	$ 1.2	$ 0.0	$ 0.1