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Goodwill and Intangible Assets - Net Carrying Amount of Other Intangible Assets (Details) - USD ($)
$ in Millions
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Schedule of Other Intangible Assets [Line Items]      
Indefinite-lived intangible assets $ 12.4 $ 12.4 $ 12.4
Total 74.9 86.3 91.8
Accumulated amortization 170.0 158.6 153.1
Licensing Agreements      
Schedule of Other Intangible Assets [Line Items]      
Accumulated amortization 0.6 0.6 0.6
Finite-Lived Intangible Assets      
Schedule of Other Intangible Assets [Line Items]      
Intangible assets subject to amortization 62.5 73.9 79.4
Accumulated amortization $ 169.4 $ 158.0 $ 152.5