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Goodwill and Intangible Assets - Balances of Acquired Intangible Assets, Excluding Goodwill (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]    
Original cost $ 196.2 $ 191.1
Accumulated amortization (133.1) (114.7)
Carrying amount 63.1 76.4
Customer Lists    
Finite-Lived Intangible Assets [Line Items]    
Original cost 150.6 146.6
Accumulated amortization (100.8) (87.5)
Carrying amount $ 49.8 $ 59.1
Weighted-average original life (in years) 15 years 15 years
Trade Names    
Finite-Lived Intangible Assets [Line Items]    
Original cost $ 29.3 $ 28.6
Accumulated amortization (19.2) (15.9)
Carrying amount $ 10.1 $ 12.7
Weighted-average original life (in years) 11 years 11 years
Technology    
Finite-Lived Intangible Assets [Line Items]    
Original cost $ 16.3 $ 15.9
Accumulated amortization (13.1) (11.3)
Carrying amount $ 3.2 $ 4.6
Weighted-average original life (in years) 11 years 11 years