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Long-Term Debt Summary and Future Principal Payments (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Sep. 19, 2019
May 31, 2017
Long-Term Debt        
Total debt $ 364.6 $ 498.7    
Unamortized debt issuance costs/discounts (7.6) (4.7)    
Current portion of long-term debt (154.6) (288.7)    
Long-term debt $ 202.4 $ 205.3    
Weighted average interest rate on variable rate debt (as a percent) 8.78% 6.54%    
Future Principal Payments        
2024 $ 154.6      
2025 210.0      
2026 0.0      
2027 0.0      
2028 0.0      
Thereafter 0.0      
Total 364.6      
Senior Notes [Member]        
Long-Term Debt        
Total debt $ 210.0 $ 350.0    
Senior notes stated interest rate 5.125%     5.125%
Revolving credit facility | Debt Instrument Adjusted Term SOFR        
Long-Term Debt        
Variable rate basis Adjusted Term SOFR      
Interest rate basis (as a percent) 2.25%      
Previous Revolving Credit Facility | Adjusted LIBOR        
Long-Term Debt        
Variable rate basis Adjusted LIBOR      
Interest rate basis (as a percent) 1.75%      
Credit Agreement | Revolving credit facility        
Long-Term Debt        
Total debt $ 137.0 0.0    
Previous Credit Agreement | Term Loan B-6        
Long-Term Debt        
Total debt     $ 950.0  
Previous Credit Agreement | Previous Revolving Credit Facility        
Long-Term Debt        
Total debt 0.0 145.0    
European Line of Credit | Foreign line of credit        
Long-Term Debt        
Total debt $ 17.6 $ 3.7    
European Line of Credit | Foreign line of credit | Euribor rate        
Long-Term Debt        
Variable rate basis Euribor      
Interest rate basis (as a percent) 1.25%