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Debt - Interest Expense (Details) - Senior Notes - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
2027 Notes      
Debt Instrument [Line Items]      
Contractual interest coupon $ 33.3 $ 33.3 $ 33.3
Amortization of debt issuance costs 1.2 1.2 1.2
Total $ 34.5 $ 34.5 34.5
2021 Notes      
Debt Instrument [Line Items]      
Contractual interest coupon     0.8
Amortization of debt discount     0.5
Amortization of debt issuance costs     0.1
Total     $ 1.4