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Net Income (Loss) from Continuing Operations Per Share (Details) - USD ($)
$ / shares in Units, shares in Millions, $ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Earnings Per Share [Abstract]                      
Income (loss) from continuing operations $ 13.6 $ 12.7 $ (193.8) $ 12.7 $ 41.9 $ 0.5 $ (5.4) $ (8.4) $ (154.8) $ 28.6 $ (0.8)
Series A Preferred Stock dividends                 (44.4) (43.8) (41.1)
(Income) loss from continuing operations attributable to participating securities                 0.0 3.6 9.0
Income (loss) from continuing operations attributable to common stockholders                 $ (199.2) $ (11.6) $ (32.9)
Shares outstanding                      
Weighted average common shares outstanding                 109.1 116.3 123.0
Effect of dilutive stock options and restricted stock awards                 0.0 0.0 0.0
Weighted average common shares outstanding and potential common shares                 109.1 116.3 123.0
Income (loss) from continuing operations per share - basic                      
Basic (in dollars per share) $ 0.02 $ 0.01 $ (1.87) $ 0.01 $ 0.21 $ (0.09) $ (0.10) $ (0.16) $ (1.83) $ (0.10) $ (0.27)
Income (loss) from continuing operations per share - diluted                      
Diluted (in dollars per share) $ 0.02 $ 0.01 $ (1.87) $ 0.01 $ 0.21 $ (0.09) $ (0.10) $ (0.16) $ (1.83) $ (0.10) $ (0.27)
Stock options outstanding (in shares) 4.9       4.8       4.9 4.8 5.8