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Income Taxes - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Operating Loss Carryforwards [Line Items] |  |  |
Foreign tax credits | $ 16.0 | $ 15.4 |
Valuation allowance for deferred tax assets | 47.6 | 48.1 |
Amount of temporary difference due to repatriation of earnings from sale or liquidation of subsidiary | 347.7 |  |
Unrecognized tax benefits that, if recognized, would affect effective tax rate | 37.8 | 49.6 | $ 52.4
Accrued deferred tax assets for indirect tax benefits associated with uncertain tax positions | 10.0 | 12.6 |
Interest and penalties related to unrecognized tax benefits | 0.8 | 2.6 | $ (0.4)
Accrued income tax interest and related charges | 14.4 | 13.6 |
Income Tax Valuation Allowance |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Increase in valuation allowance | $ 0.5 | $ 4.2 |
Minimum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
State net operating loss carryforwards, expiration period | 6 years |  |
Foreign operating loss carryforwards, expiration period | 9 years |  |
Foreign tax credits, expiration period | 5 years |  |
Maximum |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
State net operating loss carryforwards, expiration period | 11 years |  |
Foreign operating loss carryforwards, expiration period | 16 years |  |
Foreign tax credits, expiration period | 8 years |  |
State |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | $ 228.2 |  |
State | Operating Loss Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance for deferred tax assets | 14.6 |  |
Foreign |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | 74.8 |  |
Foreign operating loss carryforward indefinitely | 17.3 |  |
Foreign | Operating Loss Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance for deferred tax assets | 17.0 |  |
Foreign | Foreign Tax Credit Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance for deferred tax assets | 16.0 |  |
Foreign | Expire over a 20-year period |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforwards | $ 57.5 |  |

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