Earnings per Share - Narrative (Details) - USD ($) shares in Millions, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Schedule of Equity Method Investments [Line Items]
Anti-dilutive securities (in shares)	2.0	0.9	1.7	0.8
Stock options
Schedule of Equity Method Investments [Line Items]
Assumed conversion of dilutive stock options and restricted stock	$ 0.5		$ 0.7
Convertible Preferred Shares
Schedule of Equity Method Investments [Line Items]
Anti-dilutive securities (in shares)	0.2	0.6	0.3	0.6