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Stock Based Compensation - Summary of Non-Cash Stock-Based Compensation Expense (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Non-cash stock-based compensation | $ 66.1 | $ 61.0 | $ 59.7
Employee Stock |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Non-cash stock-based compensation | 10.4 | 9.9 | 8.7
2010 SIP and 2019 SIP |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Non-cash stock-based compensation | 55.4 | 50.7 | 50.2
Performance Stock Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Non-cash stock-based compensation | $ 0.3 | $ 0.4 | $ 0.8

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