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Income Taxes - Rate Reconciliation (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Federal statutory $ (5.1) $ 13.9 $ 0.3
Foreign income taxes (14.9) (14.7) (14.0)
Change in enacted tax rate 0.2 0.0 0.1
State and local (7.5) 2.4 3.0
Tax credits (14.2) (9.6) (11.0)
Valuation allowance 45.0 9.5 2.7
Withholding taxes 7.3 4.4 3.2
U.S. tax on unremitted foreign earnings 0.5 1.6 2.2
Tax benefit on loss carryback 0.0 0.0 (5.2)
Global intangible low-taxed income (GILTI) 15.3 6.4 6.5
Foreign derived intangible income deduction (0.1) (13.9) 0.0
Uncertain tax positions 1.3 3.8 1.2
Reorganization and restructuring actions (26.1) 0.0 0.0
Other 7.4 (1.8) 6.3
Total income tax expense (benefit) $ 9.1 $ 2.0 $ (4.7)