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Income Tax Expense - Gross Unrecognized Income Tax Benefits (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Gross Unrecognized Income Tax Benefits [Roll Forward]      
Balance at January 1 $ 1.3 $ 1.3 $ 1.4
Reductions for Tax Positions Related to Prior Years (0.2) 0.0 (0.1)
Balance as of December 31 $ 1.1 $ 1.3 $ 1.3