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Stock-Based Compensation - RSUs to be Settled in Cash (Details) - Restricted Stock Units to be Settled in Cash - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation expense related to RSUs to be settled in cash $ 8.6 $ 6.7  
Payments to settle liabilities under compensation plan 9.7 $ 8.7  
Accrued liabilities under compensation plan $ 10.3   $ 11.0