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Defined Contribution Plans - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Defined Contribution Plan Disclosure [Line Items]      
Expense recognized $ 35.0 $ 33.0 $ 32.4
Supplemental matching 9.2 7.7 9.1
United Kingdom Subsidiary      
Defined Contribution Plan Disclosure [Line Items]      
Expense recognized $ 7.3 $ 8.3 $ 7.4