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Income Taxes - Income Tax Expense (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Current:      
U.S. State $ 3.7 $ 1.3 $ 0.5
Foreign 4.1 4.8 2.0
Total current tax expense 7.8 6.1 2.5
Deferred:      
U.S. Federal 0.1 0.0 0.0
Foreign 0.4 (0.9) 1.2
Total deferred tax expense (benefit) 0.5 (0.9) 1.2
Total income tax expense $ 8.3 $ 5.2 $ 3.7