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Stockholders' Equity - Changes in Each Component of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance     $ (84.0)  
Net current-period other comprehensive income (loss) $ 3.7 $ (6.3) 4.3 $ (4.8)
Ending balance (79.7)   (79.7)  
Actuarial Losses        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance (68.6) (66.9) (68.6) (67.9)
Other comprehensive (loss) income before reclassifications (0.5) 1.3 (0.9) 1.8
Amounts reclassified from accumulated other comprehensive loss 0.4 0.5 0.8 1.0
Net current-period other comprehensive income (loss) (0.1) 1.8 (0.1) 2.8
Ending balance (68.7) (65.1) (68.7) (65.1)
Prior Service Costs        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance (2.0) (2.4) (2.0) (2.4)
Other comprehensive (loss) income before reclassifications 0.0 0.2 0.0 0.2
Amounts reclassified from accumulated other comprehensive loss 0.0 0.1 0.0 0.1
Net current-period other comprehensive income (loss) 0.0 0.3 0.0 0.3
Ending balance (2.0) (2.1) (2.0) (2.1)
Currency Translation        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance (14.5) (5.0) (16.0) (3.4)
Other comprehensive (loss) income before reclassifications 3.2 (8.6) 4.7 (10.2)
Amounts reclassified from accumulated other comprehensive loss 0.0 0.0 0.0 0.0
Net current-period other comprehensive income (loss) 3.2 (8.6) 4.7 (10.2)
Ending balance (11.3) (13.6) (11.3) (13.6)
Interest Rate Swaps        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance 1.7 1.6 2.6 (0.5)
Other comprehensive (loss) income before reclassifications 1.1 0.1 0.7 2.0
Amounts reclassified from accumulated other comprehensive loss (0.5) 0.1 (1.0) 0.3
Net current-period other comprehensive income (loss) 0.6 0.2 (0.3) 2.3
Ending balance 2.3 1.8 2.3 1.8
Accumulated Other Comprehensive Loss        
AOCI Attributable to Parent, Net of Tax [Roll Forward]        
Beginning balance (83.4) (72.7) (84.0) (74.2)
Other comprehensive (loss) income before reclassifications 3.8 (7.0) 4.5 (6.2)
Amounts reclassified from accumulated other comprehensive loss (0.1) 0.7 (0.2) 1.4
Net current-period other comprehensive income (loss) 3.7 (6.3) 4.3 (4.8)
Ending balance $ (79.7) $ (79.0) $ (79.7) $ (79.0)