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Income Taxes - Reconciliation of Unrecognized Tax Liabilities (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of total amounts of unrecognized income tax benefits      
Gross Unrecognized Tax Liabilities – opening balance $ 68.1 $ 75.1 $ 78.2
Gross increases – tax positions in prior period 7.7 2.2 2.4
Gross decreases – tax positions in prior period (0.4) (8.0) (6.1)
Gross increases – tax positions in current period 1.4 2.0 3.5
Settlements (0.5) (1.6) 0.0
Payments 0.0 1.6 0.0
Lapse of statute of limitations (3.2) (3.3) (2.9)
Gross Unrecognized Tax Liabilities – ending balance $ 73.1 $ 68.1 $ 75.1