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Income Taxes - Components of Income (Loss) Before Income Taxes (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S. $ 199.5 $ 11.8 $ 25.3
Foreign 15.1 (2.0) (4.8)
Income before income taxes $ 214.6 $ 9.8 $ 20.5