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Schedule II-Valuation and Qualifying Accounts (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Allowance For Credit Losses      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at Beginning of Year $ 8.3 $ 12.0 $ 12.3
"Additions/ (Reductions)" to Costs and Expenses 2.2 (1.8) 2.5
"Other" Additions (Deductions) 0.0 0.0 0.0
"Less" Deductions 4.1 1.9 2.8
Balance at End of Year 6.4 8.3 12.0
Insurance Reserves      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at Beginning of Year 40.4 35.7 41.0
"Additions/ (Reductions)" to Costs and Expenses 86.2 78.2 78.6
"Other" Additions (Deductions) 0.0 0.0 0.0
"Less" Deductions 86.5 73.5 83.9
Balance at End of Year $ 40.1 $ 40.4 $ 35.7