Restructuring Activities - Total Costs Incurred in Connection to Restructuring Activities Included in Statements of Operations (Details) - USD ($) $ in Millions |
12 Months Ended | |
|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
|
| Restructuring Cost and Reserve [Line Items] | ||
| Restructuring, incurred cost | $ 35.7 | $ 56.2 |
| Restructuring costs | ||
| Restructuring Cost and Reserve [Line Items] | ||
| Restructuring, incurred cost | $ 30.4 | $ 49.1 |
| Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] | Restructuring costs | Restructuring costs |
| Depreciation and amortization | ||
| Restructuring Cost and Reserve [Line Items] | ||
| Restructuring, incurred cost | $ 5.3 | $ 7.1 |
| Restructuring, Incurred Cost, Statement of Income or Comprehensive Income [Extensible Enumeration] | Depreciation, Depletion and Amortization, Nonproduction | Depreciation, Depletion and Amortization, Nonproduction |