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Stock and Stock-Based Compensation Plans (Tables)
9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of stock-based compensation expense by type of award
The following table summarizes our stock-based compensation expense by type of award (in millions):
 Three Months Ended September 30,Nine Months Ended September 30,
 2023202220232022
PRSUs$1.5 $1.3 $3.4 $15.1 
RSUs1.9 0.9 7.1 3.4 
Service options0.2 0.2 0.5 0.6 
Market options0.6 0.9 2.1 3.5 
Total stock-based compensation expense$4.2 $3.3 $13.1 $22.6