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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Changes in Unrecognized Tax Benefits |  |  |
Beginning balance, Unrecognized tax benefits | $ 42.2 | $ 45.5 | $ 46.9
Additions based on tax positions related to the current year | 0.3 |  | 1.8
Reductions for tax positions related to the current year | (3.2) | (3.3) | (3.2)
Ending balance, Unrecognized tax benefits | 39.3 | 42.2 | $ 45.5
Amount of unrecognized tax benefits that would reduce the effective income tax rate, if recognized | 1.6 |  |
Accumulated pre-tax interest and penalties related to unrecognized tax benefits | $ 1.8 | $ 1.4 |

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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15A -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 10B -Publisher FASB -URI https://asc.fasb.org//1943274/2147482525/740-10-45-10B + Details
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