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Share-based Compensation and Other Employment Benefit Plans - Narrative (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) simulation shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation cost | $ 35.4 |  |
Unrecognized compensation cost, period of recognition (years) | 1 year 9 months 21 days |  |
Stock option grants (in shares) | shares | 0 | 0 | 0
Options outstanding, intrinsic value | $ 2.9 |  |
Options outstanding, weighted average remaining contractual term (years) | 2 years 1 month 6 days |  |
Options exercised, intrinsic value | $ 11.2 | $ 10.0 | $ 21.3
Performance Share Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of simulations | simulation | 100,000 |  |
Non-option awards vested, total fair value | $ 7.4 | $ 2.2 | $ 2.4
Performance Share Units (PSUs) |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of awards subject to market condition | 50.00% | 50.00% | 50.00%
Restricted Share Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Non-option awards vested, total fair value | $ 26.1 | $ 28.0 | $ 19.8
2021 Omnibus Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares of authorized but unissued common stock reserved for future grants (in shares) | shares | 5,800,000 |  |
Common stock, reserved for future issuance (in shares) | shares | 4,300,000 |  |

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