Income Taxes - Net Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Deferred income taxes	$ 7.4	$ 8.2
Other noncurrent liabilities	1.3	1.3
Net unrecognized tax benefits	8.7	9.5
Gross unrecognized tax benefits	$ 8.7	$ 9.5	$ 11.0	$ 9.1

Amount of unrecognized tax benefits.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 10B
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482525/740-10-45-10B

Name:	us-gaap_UnrecognizedTaxBenefits
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant