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Debt - Schedule of Convertible Securities (Details) - Junior convertible securities - Junior Convertible Trust Preferred Securities - USD ($) $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Debt Instrument [Line Items] |  |
Contractual interest expense | $ 4.4 | $ 4.4
Amortization of debt issuance costs | 0.1 | 0.1
Total | $ 4.5 | $ 4.5
Effective interest rate | 5.21% | 5.21%

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