Leases - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease expense	$ 49.6	$ 53.2	$ 46.5
Short-term lease expense	3.3	4.8	3.6
Total finance lease expense	$ 0.6	$ 0.9	$ 1.0