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Income Taxes - Summary of Changes Related to PCAs Gross Unrecognized Tax Benefits Excluding Interest and Penalties (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Balance as of January 1 | $ (1.7) | $ (1.9) | $ (5.2)
Increases related to prior years’ tax positions | (0.4) | (0.2) | 0.0
Increases related to current year tax positions | (0.7) | (0.4) | (0.3)
Decreases related to prior years' tax positions | 0.0 | 0.0 | 0.2
Settlements with taxing authorities | 0.0 | 0.0 | 3.0
Expiration of the statute of limitations | 0.4 | 0.8 | 0.4
Balance at December 31 | $ (2.4) | $ (1.7) | $ (1.9)

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- Definition Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a)(4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A + Details
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