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Stock-Based Compensation - Components of Stock-Based Compensation Expense (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Equity classified awards expense $ 2.9 $ 3.8 $ 8.2 $ 12.2
Liability classified awards (credit) expense 0.2 0.3 (0.4) 1.7
Total stock-based compensation expense $ 3.1 $ 4.1 $ 7.8 $ 13.9