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Employee Benefit Plans - Defined Benefit Plans Located within Balance Sheets (Details) - USD ($) $ in Millions | Dec. 31, 2023 | Dec. 31, 2022
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Defined Benefit Plan Disclosure [Line Items] |  |
Fair value of plan assets | $ 295.5 | $ 270.3
Benefit obligation | 374.4 | 339.9
Pension Plan |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value of plan assets | 243.2 | 221.1
Benefit obligation | 267.4 | 247.1
Pension Plan | Other assets, net |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Fair value of plan assets | 41.0 | 56.0
Pension Plan | Other liabilities |  |
Defined Benefit Plan Disclosure [Line Items] |  |
Benefit obligation | $ 85.0 | $ 80.0

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