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Equity Incentive Program (Tables)
6 Months Ended
Jun. 30, 2024
Share-Based Payment Arrangement, Noncash Expense [Abstract]  
Schedule of Share-Based Compensation, Employee Stock Purchase Plan, Activity
The following table summarizes the stock-based compensation expense recognized by the Company for the periods presented:

 Three Months Ended June 30, Six Months Ended June 30,
(in millions)2024202320242023
Total pre-tax stock-based compensation expense$7.4 $7.1 $14.1 $14.9 
Tax benefit0.3 0.3 3.0 3.2 
Total stock-based compensation expense, net of tax$7.1 $6.8 $11.1 $11.7 
Schedule of Black-Scholes Option-Pricing Assumptions No stock options were granted during the six months ended June 30, 2024 and 2023.
Schedule of SSAR and Stock Options Activity
The following table summarizes the Company's stock option activity for the six months ended June 30, 2024:
 Number of SharesWeighted-Average Exercise PriceAggregate Intrinsic ValueWeighted-Average Remaining Contractual Term (Years)
(in millions, except share and per share amounts)
Outstanding at December 31, 2023
2,104,356 $17.15 
Exercised(10,325)15.10 
Expired(331,709)19.27 
Outstanding at June 30, 2024
1,762,322 $16.77 $2.1 2.1
Exercisable at June 30, 2024
1,705,929 $16.62 $2.1 2.0
Schedule of Restricted Stock Units Award Activity
The following table summarizes the Company's restricted stock unit ("RSU") activity for the six months ended June 30, 2024:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 2023
2,075,007 $19.49 
Granted1,496,407 16.71 
Vested (1)
(920,876)19.73 
Forfeited(108,071)18.13 
Unvested at June 30, 2024
2,542,467 $17.83 
(1) The number of RSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.
Share-based Payment Arrangement, Performance Shares, Outstanding Activity
The following table summarizes the Company's PSU activity for the six months ended June 30, 2024:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 2023
864,749 $29.28 
Granted414,680 24.09 
Vested (1)
(258,680)28.49 
Forfeited(69,360)27.60 
Unvested at June 30, 2024
951,389 $27.35 
(1) The number of PSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.