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Income Taxes - Textual (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Investments, Owned, Federal Income Tax Note [Line Items]      
Deferred tax assets, operating loss carryforwards, foreign $ 19.1    
Deferred tax assets, operating loss carryforwards, domestic 1,700.0    
Tax credit carryforward, amount 745.6    
Deferred tax assets, operating loss carryforwards, foreign, net 138.7    
Deferred tax assets, operating loss carryforwards, domestic, net 366.8    
Deferred tax assets, operating loss carryforwards, state and local 80.3    
Deferred tax assets, tax credit carryforwards, general business 139.1    
Valuation allowance, income tax (1,473.5) $ (1,451.0)  
Unrecognized tax benefits, period increase (decrease) (0.8)    
Net unrecognized tax benefits 8.7 9.5  
Unrecognized tax benefits, gross interest and penalties (reversal) 0.2 0.2 $ 0.2
Unrecognized tax benefits, accrued gross interest and penalties $ 6.1 5.9 5.7
Book income tax, minimum percent 15.00%    
Global intangible low-taxed income $ 0.0 197.2 $ 67.0
Other noncurrent liabilities $ 1.3 $ 1.3  
Pillar Two effective tax rate 15.00%    
U.S. — federal      
Investments, Owned, Federal Income Tax Note [Line Items]      
Valuation allowance, income tax $ (1,000.0)    
Non-U.S.       
Investments, Owned, Federal Income Tax Note [Line Items]      
Valuation allowance, income tax $ (469.1)