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Stock-Based Compensation - Employee Stock Option and Incentive Plan (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-Based Compensation |  |  |
Weighted average period compensation cost is expected to be recognized (in years) | 2 years 7 months 6 days |  |
Employee Stock Option |  |  |
Stock-Based Compensation |  |  |
Shares outstanding (in shares) | 2,055,002 |  |
Vesting period (in years) | 4 years |  |
Expiration period (in years) | 10 years |  |
Intrinsic value of stock options exercised | $ 2.7 | $ 12.8 | $ 9.4
Weighted average grant-date fair value (in dollars per share) | $ 28.15 | $ 17.60 | $ 22.16
Fair value of stock options vested | $ 20.4 | $ 15.6 | $ 5.9
Intrinsic value of stock options outstanding | 98.6 |  |
Intrinsic value of stock options vested and expected to vest | 97.6 |  |
Intrinsic value of stock options exercisable | 68.9 |  |
Compensation cost not yet recognized | $ 61.9 |  |
Employee Stock Option | Principal Owner |  |  |
Stock-Based Compensation |  |  |
Expiration period (in years) | 5 years |  |
Exercise price as a percentage of fair market value | 110.00% |  |

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