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Debt - Schedule of Convertible Securities (Details) - Junior Convertible Trust Preferred Securities - Junior convertible securities - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Contractual interest expense $ 17.6 $ 18.3 $ 22.2
Amortization of debt issuance costs 0.2 0.2 0.4
Amortization of debt discount 0.0 0.0 3.1
Total $ 17.8 $ 18.5 $ 25.7
Effective interest rate 5.21% 5.21% 5.99%