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Unrecognized Tax Benefits and Tax Reform (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] |  |  |
Balance at January 1 | $ 5.5 | $ 6.9 | $ 7.0
Additions based on tax positions related to the current year | 0.0 | 0.0 | 0.0
Additions for tax positions of prior years | 1.2 | 0.6 | 0.8
Reductions for tax positions of prior years | 0.0 | 0.0 | 0.0
Reductions for expirations of statute of limitations | (1.6) | (1.4) | (0.9)
Settlements | 0.0 | (0.6) | 0.0
Balance at December 31 | 5.1 | 5.5 | 6.9
Unrecognized tax benefits, accumulated interest and penalties | 10.7 | 9.6 | 9.1
Deferred tax assets related to unrecognized tax benefits | 3.6 | 3.4 | 3.6
Net unrecognized tax benefits, associated interest, penalties and deferred tax asset that if resolved would impact effective tax rate | 12.2 | 11.7 | 12.4
Recognized interest and penalties | $ 0.8 | $ 0.4 | $ 0.6

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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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