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Commitments and Contingencies - Lease Cost, Cash Flows and Other Supplemental Information - Operating Leases (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Commitments and Contingencies Disclosure [Abstract]        
Operating lease cost $ 14.8 $ 14.0 $ 43.7 $ 42.0
Sublease income (1.5) (1.8) (4.4) (4.7)
Total operating lease cost 13.3 12.2 39.3 37.3
Cash paid for amounts included in the measurement of operating lease liabilities $ 16.9 $ 15.8 $ 51.1 $ 47.8
Weighted-average remaining lease term 10 years 4 months 24 days 11 years 8 months 12 days 10 years 4 months 24 days 11 years 8 months 12 days
Weighted-average discount rate 4.30% 4.40% 4.30% 4.40%