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Income Taxes - Rate Reconciliation (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Federal statutory | $ (5.1) | $ 13.9 | $ 0.3
Foreign income taxes | (14.9) | (14.7) | (14.0)
Change in enacted tax rate | 0.2 | 0.0 | 0.1
State and local | (7.5) | 2.4 | 3.0
Tax credits | (14.2) | (9.6) | (11.0)
Valuation allowance | 45.0 | 9.5 | 2.7
Withholding taxes | 7.3 | 4.4 | 3.2
U.S. tax on unremitted foreign earnings | 0.5 | 1.6 | 2.2
Tax benefit on loss carryback | 0.0 | 0.0 | (5.2)
Global intangible low-taxed income (GILTI) | 15.3 | 6.4 | 6.5
Foreign derived intangible income deduction | (0.1) | (13.9) | 0.0
Uncertain tax positions | 1.3 | 3.8 | 1.2
Reorganization and restructuring actions | (26.1) | 0.0 | 0.0
Other | 7.4 | (1.8) | 6.3
Total income tax expense (benefit) | $ 9.1 | $ 2.0 | $ (4.7)

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