 Solution

A model of three-dimensional hyperbolic space is ${\mathbb{H}}^3=\{(z,t):z\in \mathbb{C},t>0\}$ with metric $d{s}^2=(|dz{|}^2+d{t}^2)/t^2$, the complete simply connected metric of curvature $-1$. The translation length of an isometry $g$ is $\ell (g)={\inf }_{P}d(P,gP)$. A hyperbolic isometry has positive translation length attained on its invariant complete geodesic, the axis of a hyperbolic-space isometry. It joins the two fixed ideal points and is translated by distance $\ell (g)$; a three-dimensional axial isometry can also rotate around it.

For the boundary map $z\mapsto kz$, the hyperbolic extension of a Möbius transformation is $(z,t)\mapsto (kz,|k|t)$. Every path from $P$ to $gP$ has length at least the absolute change of $\log t$, namely $|\log |k||$, because the metric length dominates $|dt|/t$. On the vertical line $z=0$ a vertical segment attains that bound. HenceIf $|k|\ne 1$ the vertical line is the axis. If $|k|=1$ the map is a rotation with zero translation length, including the identity when $k=1$; it is not a positive-length hyperbolic isometry.