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Income Taxes - Schedule of Valuation Allowance Activity (Details) - Deferred Tax Asset Valuation Allowance - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at Beginning of Year $ 109.8 $ 109.6 $ 104.0
Net Change (0.8) 0.2 5.6
Balance at End of Year $ 109.0 $ 109.8 $ 109.6